A Piezo-Sensor-Based “Smart Tire” System for Mobile Robots and Vehicles
نویسنده
چکیده
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.
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