Project Status as of Spring 2018

Autonomous Bicycle

Bike Videos

Goals

The Cornell Autonomous Bicycle Team develops a robotically-stabilized bicycle with the goal of balancing "better" than any other autonomous bicycle. Others have developed autonomous bicycles, often balancing using gyroscopes or reaction wheels. Gyroscopes and reaction wheels are heavy and energy inefficient. Our bicycle balances only by steering the front wheel. This is similar to how humans balance bicycles. We are working to make our bicycle navigate autonomously around Cornell's campus. We aim to make our bicycle robust to disturbances (wind, bumps, etc).

Progress

Our bicycle can autonomously balance! This semester (Spring 2018), we developed and tested new balance controllers, both linear and nonlinear, in simulation and on our prototype bicycle. We took the first steps to implement a computer vision system: we conducted preliminary tests of obstacle detection and localization algorithms using a stereo camera. We integrated more sensors into our position estimation algorithm. This improved the bicycle's ability to know its location. Next semester, we hope to implement our navigation algorithm on our physical bicycle to make our bicycle fully autonomous.

Steer by Wire

Steer By Wire Videos

Goals

The steer-by-wire (SBW) subteam is building human-rideable bike with balance assist features. We aim to make a bicycle which can help the rider balance. A rider would not turn the front wheel directly. Instead, the rider would use the handlebars to tell the bicycle which was it should go. By developing a bicycle with balance assist features, we hope to make biking safer and more accessible.





Progress

Building on Fall 2017, when we developed the hardware of the Steer-By-Wire bicycle, this semester (Spring 2018), we improved the software. Specifically, we improved our the motor controller on our front steering motor. We added a safety feature to prevent the front wheel from turning excessively. We also developed a procedure for debugging errors in our front wheel angle measurement system.