You need to download and read VSB10 which gives the criteria for bringing a vehicle into Australia.
Generally if you are a permanent resident then you must own the vehicle for one year or more overseas, obtain an import approval, provide proof etc.
If you arrive on your permanent residents visa then a carnet is not of any use to you - VSB10 has all the details.
Next up check the Customs website for duty and GST payable on a self import - duty at 10% on the value of the bike, GST on the bike + duty, then GST on shipping costs, usually ends up about an additional 23%.
Next read the AQIS (quarantine) website about how clean the bike has to be "as new" is the standard.
You need to download a copy of the Australian Design Rules and make sure the bike can comply - LHD headlamp lense, indicators, noise, etc etc.
You can easily self clear through customs and AQIS, just need about a day to wander around the various departments and companies involved. There's been quite a few threads about this topic in the Aus/NZ forum. Rules were changed about May 2009 so info pre that date needs to be checked.