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

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1 Author(s)
Jingang Yi ; San Diego State Univ., San Diego

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.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:13 ,  Issue: 1 )