So I'm designing an AUV which will have wheels filled with air/helium(*) to ascent to the Antarctica ice shelves from underwater. My goal is retrieve data, images and information about the underwater world of Antarctica.
My question is, what kind of tires and what radius would be ideal to use on this AUV? Note that the wheels will be rolling on ice underwater, so I need a material that will increase the friction.
(*) I have also taken in consideration that the force of the AUV towards the surface (which will be blocked by thick flat ice). For that I was thinking that using helium in the tires and/or other parts(**) of the AUV would increase the buoyant force which would mean greater friction.
(**) Maybe I could add a separate sphere(***) somewhere filled with helium.
(***) Sphere because I can get the most amount of volume possible for the least surface area needed.