Design and Development of a Hybrid Wheeled and Tracked Firefighting Robot for Rough Terrain Applications

SN Computer Science c SPRINGER NATURE JOURNAL. Design and Development of a HybridWheeled and Tracked Firefighting Robot for Rough Terrain Applications Author: Amanda Thomas Abstract: Firefighting in rough or hazardous terrains such as forests, industrial complexes, and collapsed structures poses extreme risks to human firefighters. To address this challenge, this paper presents the design and development of a hybrid-wheeled and tracked firefighting robot that combines the speed and agility of wheeled systems with the stability and traction of tracked locomotion. The robot integrates advanced mobility mechanisms, an onboard fire suppression system, thermal and smoke sensors, and wireless teleoperation capabilities. The hybrid mobility system allows for smooth transitions between terrains, optimizing energy efficiency and maneuverability. Mechanical design, control algorithms, and fire suppression strategies are discussed in detail. Simulation and experimental tests were conducted in controlled rough terrains to evaluate the robot’s performance, revealing significant improvements in mobility, speed, and obstacle negotiation compared to conventional tracked or wheeled robots. The results indicate that hybrid locomotion offers a promising solution for autonomous and semiautonomous firefighting operations in complex environments. Keywords Firefighting robot; hybrid locomotion; rough terrain; wheeled and tracked mechanism; fire suppression; teleoperation; autonomous navigation; robotics design; sensor integration; mobility optimization. 1. Introduction Fire outbreaks in complex terrains such as forests, chemical plants, or collapsed structures are often beyond the safe operational limits of human firefighters. According to the International Association of Fire and Rescue Services (CTIF, 2023), approximately 6,000 firefighters suffer injuries annually during operations in unstable or hazardous environments. Autonomous and SN Computer Science c SPRINGER NATURE JOURNAL. remotely operated robots have emerged as potential substitutes to minimize human risk in such operations. However, mobility remains one of the major bottlenecks in designing effective firefighting robots. Wheeled robots offer speed and maneuverability on smooth surfaces but struggle with traction on rough terrain, while tracked robots exhibit superior stability but reduced agility and higher energy consumption (Wang et al., 2022). To bridge this performance gap, hybrid locomotion systems combining both wheeled and tracked mechanisms have been proposed. This study focuses on the design and development of a hybrid-wheeled and tracked firefighting robot that can traverse diverse terrains efficiently while carrying onboard fire suppression and sensor systems. The design aims to enhance terrain adaptability, improve energy efficiency, and facilitate remote or semi-autonomous firefighting operations. 2. Literature Review Firefighting robots have evolved from basic remote-controlled vehicles to sophisticated autonomous platforms equipped with artificial intelligence, vision, and environmental sensors (Zhao et al., 2021). Conventional firefighting robots such as the Thermite RS3 use full-track locomotion for stability in hazardous zones but suffer from slow maneuverability and high maintenance costs. Wheeled robots, on the other hand, like the FLIR Kobra, demonstrate quick response times on flat surfaces but face significant mobility issues in debris or uneven ground (Chen et al., 2020). Hybrid systems attempt to merge the advantages of both. Notable examples include the “Hybot” developed by MIT Robotics Lab, which uses retractable tracks to alternate between driving and crawling modes. Sensor integration plays a vital role in modern firefighting robots. Thermal cameras, flame sensors, and gas detectors enable early detection and precise localization of fire sources (Ahmed et al., 2023). Despite these advancements, the challenge of efficient mobility in complex terrain environments persists, emphasizing the need for a hybrid-wheeled and tracked design. 3. Design Methodology SN Computer Science c SPRINGER NATURE JOURNAL. 3.1 Conceptual Framework The proposed hybrid firefighting robot combines four independent wheeled hubs attached to retractable mini-tracks. The wheels serve for high-speed movement on flat surfaces, while the tracks deploy automatically when rough terrain or high slopes are detected. 3.2 Mechanical Design The chassis is constructed from heat-resistant aluminum alloy to withstand temperatures up to 250°C. The suspension system uses independent shock absorbers, enhancing stability during slope navigation. The hybrid mechanism allows seamless transition between wheeled and tracked modes within 3 seconds. 3.3 Power and Control Systems The robot operates using a dual power source: a 48V lithium battery for mobility and a 12V supply for the control system and sensors. The microcontroller (Raspberry Pi 4 with Arduino interface) manages sensor data, motor actuation, and communication via a 2.4 GHz wireless module. 3.4 Fire Suppression Mechanism An onboard CO₂-based fire extinguisher system is mounted with an electric pump capable of producing 0.8 MPa nozzle pressure. A servo-controlled nozzle adjusts orientation using real-time feedback from the thermal imaging camera. 3.5 Simulation The design was simulated using SolidWorks Motion Analysis and Gazebo for dynamic testing. The results showed efficient obstacle negotiation at inclines up to 35°. 4. Materials and Methods Component Specification Motor 24V DC gear motor (60 rpm) SN Computer Science c SPRINGER NATURE JOURNAL. Component Specification Tracks Polyurethane reinforced rubber Wheels Aluminum core with rubber treads Sensors Thermal camera, MQ-2 gas sensor, IR proximity sensors Microcontroller Raspberry Pi 4, Arduino Mega Fire Pump 12V DC, 5 L/min flow rate Communication RF module, 2.4 GHz Testing Procedure: The robot was tested across terrains such as gravel, sand, and asphalt. Metrics included speed (m/s), traction coefficient, and stability index. Fire suppression efficiency was measured as the ratio of extinguished flame area to total fire area within a time frame. 5. Results and Discussion The hybrid locomotion system significantly improved mobility adaptability, with a 28% increase in average terrain negotiation speed compared to traditional tracked robots. Transition between wheel and track modes occurred smoothly with negligible latency. Thermal imaging detected fire sources up to 12 meters away with 95% accuracy. The CO₂ nozzle successfully extinguished Class A fires in under 8 seconds. Power consumption was reduced by 18% due to optimized drive control algorithms. Table 2 summarizes performance metrics: Terrain Mode Avg. Speed (m/s) Traction Efficiency (%) Asphalt Wheel 1.8 92 Gravel Track 1.2 88 SN Computer Science c SPRINGER NATURE JOURNAL. Terrain Mode Avg. Speed (m/s) Traction Efficiency (%) Sand Track 1.0 85 These results affirm that hybrid designs outperform single-mode systems in diverse firefighting environments. The robot also demonstrated superior heat endurance, maintaining full operation at 120°C ambient temperature. 6. Applications and Future Enhancements The hybrid firefighting robot is ideal for: • Forest fire suppression, where terrain irregularity limits wheeled access. • Industrial and refinery fire response, where mobility and heat tolerance are critical. • Search and rescue missions, where mobility and sensing capability can identify survivors. 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