A Piezo-Sensor-Based "Smart Tire" System for Mobile Robots and Vehicles

In this paper, we present the development of a tire rubber deformation sensing system that provides the critical information for understanding and estimation of wheel/ground interactions for mobile robots and vehicles. Polyvinylidene fluoride (PVDF)-based sensors are designed and fabricated to embed...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 13; no. 1; pp. 95 - 103
Main Author Yi, Jingang
Format Journal Article
LanguageEnglish
Published New York IEEE 01.02.2008
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Analytical models
Control systems
Deformation
Friction
friction estimation
Land vehicles
mobile robot
Mobile robots
polyvinylidene fluoride (PVDF)
Road vehicles
Rubber products
Sensor phenomena and characterization
tire/road friction
Tires
Wheels
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Summary:In this paper, we present the development of a tire rubber deformation sensing system that provides the critical information for understanding and estimation of wheel/ground interactions for mobile robots and vehicles. Polyvinylidene fluoride (PVDF)-based sensors are designed and fabricated to embed on the inner tread surface to measure the tire rubber tread deformation. Analytical models of the PVDF-based sensing system are presented to capture the wheel/ground contact information and friction characteristics. The sensed deformation measurements are integrated with the onboard control system through a wireless data transmission module. Experimental results on a skid-steered mobile robot are presented to show the feasibility and estimation of wheel/ground friction characteristics using the developed sensing system.
Bibliography:ObjectType-Article-2
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ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2007.915064