Figure 6
Illustration of system-level behaviors performance. (a) The actual dynamic and complex environment with multiple tasks. (b) Various real-world road conditions and corresponding specifications. (c) The plots of relative yaw angles of the bicycle, and the target rotation angles generated by control module. The left y axis (yaw angle) is converted from object position predicted by CNN, and the right y axis (target rotation angle) is generated by MLP for handlebar control. (d) The performance of MLP-based motion module on different speed level, commands and motion patterns. Software: Microsoft Visio 2019 MSO (16.0.10730.20102) 64-bit https://www.microsoft.com/en-us/microsoft-365/visio/flowchart-software MATLAB R2017a (9.2.0.538062) 64-bit (win64) https://ww2.mathworks.cn/products/matlab.html.
