Designing and initial testing of a tyre strain sensing system to estimate slip in robotic platforms

Lutfi, Ali Farooq Lutfi and Low, Tobias and Maxwell, Andrew (2018) Designing and initial testing of a tyre strain sensing system to estimate slip in robotic platforms. In: 2018 Australasian Conference on Robotics and Automation (ACRA 2018), 4-6 Dec 2018, Lincoln, New Zealand.

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Abstract

Wheel slip estimation is an important element in improving the performance of wheeled mobile robots. Conventional wheel slip estimation methods relied upon sensors which were 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. The work presented in this paper represents a first stage towards developing such techniques for small, non-pressurised tyres that are widely used in mobile robots. An optimum sensing system for these tyres is presented. Experimental work is conducted to determine the possibility of bonding the selected system inside the tyre. Static footprint tests are undertaken to derive an optimal design for the sensing system. Image processing is utilised to obtain dimensions of the tyre-ground contact patches provided by these tests. Performance of the produced system design is evaluated with static tests using a custom-built, bench-top rig. Results of these tests demonstrated a sufficient degree of consistency in the measurements of the sensory system. In addition, the strain profiles extracted from the sensors' readings agree with key theoretical facts.


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Item Type: Conference or Workshop Item (Commonwealth Reporting Category E) (Paper)
Refereed: Yes
Item Status: Live Archive
Additional Information: Proceedings Copyright© (2018) by Australian Robotics and Automation Association. No evidence of copyright restrictions preventing deposit of Submitted version.
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 01:32
Last Modified: 12 Feb 2020 00:28
Uncontrolled Keywords: wheel slip, tyre strain sensing system, mobile robots
Fields of Research : 09 Engineering > 0910 Manufacturing Engineering > 091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
URI: http://eprints.usq.edu.au/id/eprint/36913

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