mechmotum / brim-bmd-2023-paper Goto Github PK

Here are some thoughts on a minimal set of constraints and objective elements that may be needed to solve the lane change.

The cyclist starts out riding at speed at its upright equilibrium point. They try to follow a line on the ground with a step "lane change" with the rear wheel by only applying steering or elbow torques. After completing the lane change the cyclist attempts to return to the equilibrium state at a slightly different speed.

• We have to have a fixed duration so we should not select too little time for any end constraints to be satisfied, i.e. give plenty of time after the lane change.

Constraints

• No need to apply pedaling torque, start with an initial forward speed and let the end speed be positive (or greater than initial speed - 10% or something reasonable).
• At time = 0 all bicycle states are zero except front and rear wheel rates and the rider's arms are set for the zero steer config.
• At time = final all bicycle states are zero +/- constraint tolerance except front and rear wheel rates. Front and rear wheel rates should result in a positive forward motion and be within ~10% of the initial values for the wheel rates.

Objective

• Minimize steering (or elbow) torque: minimal input energy formulation.
• Rear contact point lateral location should be minimized wrt to the lateral location of the lane line on the ground at whatever longitudinal position it is at: [y_rear(x) - y_ground_line(x)]^2.
• Minimize change in speed: abs(v(t_final) - v_(t_initial))

We've used @misc currently for the software packages with just a URL and no paper, but this does not display the URL in the references section.

Both @brocksam and @tjstienstra TU Delft email addresses will be terminated soon. I think it makes most sense for the corresponding author to therefore be Jason. @moorepants, do you agree with this and are you happy to have this role?

I think it's fine for it to remain here, especially as @tjstienstra is first author. But if we do want to move it to mechmotum, I guess for longevity sake of @moorepants is the corresponding author, the it might make more sense to move it. If we are moving it then we should do this before Friday so that the URL in the paper is correct.