In this paper, we present the development of a tire deformation sensing system that can provide the critical information for estimation of tire/road interaction for mobile robots and vehicles. Polyvinylidene fluoride (PVDF)-based sensor is designed and fabricated to embed on the inner tread surface to measure the rubber tread deformation. Analytical models of the PVDF-based sensing system are presented to capture the tire/road contact information and friction characteristics. The sensed deformation measurements are integrated with the on-board control system through a wireless data transmission module. Experimental results on a skid-steered mobile robot are presented to show the feasibility of the developed sensing system.
- Dynamic Systems and Control Division
A “Smart Tire” System for Tire/Road Friction Estimation
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Yi, J, & Tseng, EH. "A “Smart Tire” System for Tire/Road Friction Estimation." Proceedings of the ASME 2008 Dynamic Systems and Control Conference. ASME 2008 Dynamic Systems and Control Conference, Parts A and B. Ann Arbor, Michigan, USA. October 20–22, 2008. pp. 1293-1300. ASME. https://doi.org/10.1115/DSCC2008-2279
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