TactV: A Class of Hybrid Terrestrial/Aerial Coaxial Tilt-Rotor Vehicles

This article aims to design a novel hybrid terrestrial/aerial vehicle, <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">T</b>errestrial/<bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a</b>erial <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">c</b>oaxial <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">t</b>ilt-rotor <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">V</b>ehicles (TactV), featuring the aerial design of a tiltable coaxial dual-rotor as well as the terrestrial design based on a spherical cage structure, which enables centroid tilting. Compared to previous hybrid terrestrial/aerial vehicles, TactV demonstrates superior terrain traversal and endurance under the same load. The dynamics model of TactV is developed, based on which the corresponding aerial and terrestrial controllers are designed to ensure agile locomotion in each mode. Besides, by further analyzing the terrestrial mode of TactV, we propose energy-saving and high-mobility modes to enhance its terrestrial endurance. Finally, both aerial and terrestrial experiments are conducted to evaluate and confirm the exceptional performance of the locomotion capabilities and control strategies of TactV.