Fault-Tolerant Design and Implementation of Tiltable Quadcopter Aerial-Aquatic Vehicle

The failure rate of aerial-aquatic vehicles (AAVs) is higher compared to unmanned devices operating in a single medium. To ensure the reliable and stable completion of tasks by AAV s, this paper proposed a tiltable quadcopter AAV to address the potential issue of rotor failure leading to high-speed spinning or damage during cross-media transitions. Experimental validation demonstrates that this tiltable quadcopter AAV can transform into a dual-rotor or tiltable triple-rotor AAV after losing one or two rotors, enabling it to perform cross-domain movements with good stability and the capability to continue task completion. This enhancement effectively improves its fault tolerance and task reliability to a certain extent.