Study on a self-sustain of a robotic bike and GPS positioning measurement for an autonomic run of it

The study on an autonomic run of a robotic bike has hardly been made because of difficulty in stabilizing the body of a bike. So far only a success of a self-sustain of the body of a bike and a low run has been reported. In this study, first, we simulated the stability of a robotic bike with a gyro for a self-sustain when it doesn´t run with Runge-Kutta method and found the condition for a self-sustain. Second, We put GPS on a robotic bike to get the position of it needed for an autonomic run and calculated a distance between two points with GPS data when we walked on a straight and arc line and we got an error.