Kinematics-Based Vehicle Trajectory Optimization for Obstacle Avoidance and Goal Satisfaction

The electric bicycle is one of the most important means of transportation in China, and it has a huge number of electric bicycle users. However, there are a lot of deaths caused by electric bicycle traffic accidents every year. In this paper, we design a driver-assisted electric bicycle and motion planning based on the iLQR algorithm that can avoid obstacles. The study provides a solution for the future generation of electric bicycles that can respond to emergencies and reduce accidents to improve travel safety.