A preliminary evaluation of static tests to detect slip using tyre strain sensing system in robotic platforms

Lutfi, Ali Farooq Lutfi and Low, Tobias and Maxwell, Andrew (2018) A preliminary evaluation of static tests to detect slip using tyre strain sensing system in robotic platforms. In: 15th International Conference on Control, Automation, Robotics and Vision (ICARCV 2018), 18-21 Nov 2018, Singapore.

[img]
Preview
Text (Submitted Version)
Submitted version.pdf

Download (2MB) | Preview

Abstract

Wheel slip estimation is a determinant factor in improving performance of wheeled mobile robots. Conventional wheel slip estimation methods relied upon sensors which are far from the tyre-ground interface; hence, they required the use of approximated models and complex transformations. A modern method which directly measures tyre-ground contact quantities utilising in-tyre sensors helps develop accurate and direct wheel slip estimation techniques. In this paper, an optimum sensing system for small, non-pressurised robotic tyres is presented. Data processing algorithms are proposed to show possible techniques for deploying the readings of this system to estimate tyre forces and slip variables. These algorithms analyse the sensing system's measurements in both longitudinal and lateral directions with respect to the tyre direction of motion. Performance of the system is evaluated with static tests using a custom-built, bench-top rig. In these tests, different angular positions, vertical forces, and horizontal forces were tested. Results of these tests demonstrated that the system is capable of detecting tyre slip with a sufficient degree of consistency and robustness.


Statistics for USQ ePrint 36910
Statistics for this ePrint Item
Item Type: Conference or Workshop Item (Commonwealth Reporting Category E) (Paper)
Refereed: Yes
Item Status: Live Archive
Additional Information: Submitted Version deposited in accordance with the copyright policy of the publisher.
Faculty/School / Institute/Centre: Current - Faculty of Health, Engineering and Sciences - School of Mechanical and Electrical Engineering (1 July 2013 -)
Faculty/School / Institute/Centre: Current - Faculty of Health, Engineering and Sciences - School of Mechanical and Electrical Engineering (1 July 2013 -)
Date Deposited: 04 Nov 2019 01:48
Last Modified: 12 Feb 2020 00:03
Uncontrolled Keywords: wheel slip, mobile robots, tyre strain sensing system
Fields of Research : 09 Engineering > 0910 Manufacturing Engineering > 091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
URI: http://eprints.usq.edu.au/id/eprint/36910

Actions (login required)

View Item Archive Repository Staff Only