Design of an Arc-Wheel Robot Based on ROS System

This paper introduces the design and development of the Arc-Wheel robot, a ROS-based platform tailored for exploration and operational tasks in multi-terrain environments. The robot incorporates a novel arc-wheel design, an adaptable suspension system, and a modular chassis structure <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[1]</sup>, collectively enhancing terrain adaptability, obstacle-crossing capabilities, and hardware reconfigurability. The ESP32S3 microcontroller serves as the system's core processor, enabling seamless communication and real-time control within the ROS framework <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[2]</sup>. Experimental results, including evaluations on grass, steep slopes, and rocky surfaces <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[3]</sup>, highlight the robot's exceptional stability and locomotion performance under complex conditions. These findings demonstrate the system's potential for deployment in exploration and rescue missions, contributing a robust and scalable solution to the challenges of multi-terrain robotics.