A preliminary evaluation of static tests to detect slip using tyre strain sensing system in robotic platforms
Paper
Paper/Presentation Title | A preliminary evaluation of static tests to detect slip using tyre strain sensing system in robotic platforms |
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Presentation Type | Paper |
Authors | Lutfi, Ali Farooq Lutfi (Author), Low, Tobias (Author) and Maxwell, Andrew (Author) |
Journal or Proceedings Title | Proceedings of the 15th International Conference on Control, Automation, Robotics and Vision (ICARCV 2018) |
Number of Pages | 8 |
Year | 2018 |
Place of Publication | United States |
ISBN | 9781538695821 |
Digital Object Identifier (DOI) | https://doi.org/10.1109/ICARCV.2018.8581360 |
Web Address (URL) of Paper | https://ieeexplore.ieee.org/document/8581360 |
Web Address (URL) of Conference Proceedings | https://ieeexplore.ieee.org/xpl/conhome/8564369/proceeding |
Conference/Event | 15th International Conference on Control, Automation, Robotics and Vision (ICARCV 2018) |
Event Details | Rank A A A A A A A A |
Event Details | 15th International Conference on Control, Automation, Robotics and Vision (ICARCV 2018) Event Date 18 to end of 21 Nov 2018 Event Location Singapore |
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. |
Keywords | wheel slip, mobile robots, tyre strain sensing system |
Contains Sensitive Content | Does not contain sensitive content |
ANZSRC Field of Research 2020 | 400707. Manufacturing robotics |
Public Notes | File reproduced in accordance with the copyright policy of the publisher/author. |
Byline Affiliations | School of Mechanical and Electrical Engineering |
Institution of Origin | University of Southern Queensland |
https://research.usq.edu.au/item/q55q1/a-preliminary-evaluation-of-static-tests-to-detect-slip-using-tyre-strain-sensing-system-in-robotic-platforms
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