A Low-Cost Climbing Unmanned Ground Vehicle for Hazardous Environment Exploration of Emergency Operators

Halvorsen, Sam and Secco, Emanuele Lindo (2025) A Low-Cost Climbing Unmanned Ground Vehicle for Hazardous Environment Exploration of Emergency Operators. Journal of Climbing and Walking Robots. (Accepted for Publication)

Text JCWR52026093.pdf - Accepted Version Restricted to Repository staff only Download (1MB)

Abstract

This paper presents the conceptualization, design, hardware and software development and integration of a wireless controlled unmanned ground vehicle for the exploration of hazardous environments. The proposed system integrates 4 actuators (2 motors per track) combined with a customized design of the chassis and tracks. An ESP32 with OV2640 camera and a DHT 11 temperature and humidity sensor provide real-time video stream and values of the environmental conditions through an ESP32. The ESP32 itself is designed as a web server providing full controllability by means of a website with control inputs being from a keyboard, compatible Bluetooth controller or slider objects on the webpage which makes the overall platform user friendly and adaptable for the use of emergency operators in a real context/scenario of an emergency. Preliminary testing of the system shows capability of the vehicle to overcome rough terrains with slopes higher than 60° and drive at or in excess of human walking speed.

Item Type:	Article
Faculty / Department:	Faculty of Human and Digital Sciences > School of Computer Science and the Environment
Depositing User:	Emanuele Secco
Date Deposited:	01 Sep 2025 14:01
Last Modified:	01 Sep 2025 14:01
URI:	https://hira.hope.ac.uk/id/eprint/4742

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