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Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning

Zhi Zheng, Jin Wang, Yuze Wu, Qifeng Cai, Huan Yu, Ruibin Zhang, Jie Tu, Jun Meng, Guodong Lu, Fei Gao

TL;DR

The Roller-Quadrotor addresses the high energy demands and terrain limitations of conventional UAVs by integrating a quadrotor with a unicycle-driven wheel and rotor-assisted turning to enable seamless aerial-terrestrial operation. The authors develop a cohesive modeling and control framework across flight, transition, and rolling modes, including rotor/thrust, wheel/ground dynamics, and planar-unicycle terrestrial dynamics, and validate it through seven experiments showing substantial energy advantages and obstacle-navigating capabilities. Key findings include a terrestrial range ~2.8× and operating time ~41.2× longer than the aerial modes, and safe passage through gaps half the wheel diameter, demonstrating improved terrain adaptability and energy efficiency. The work contributes a novel hardware design, a unified multimodal control strategy, and extensive experimental evidence supporting efficient hybrid navigation in challenging environments, with implications for UAV endurance and domain versatility.

Abstract

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight capabilities are achieved through a quadrotor configuration, with four thrust-providing actuators. Additionally, rolling motion is facilitated by a unicycle-driven and rotor-assisted turning structure. By utilizing terrestrial locomotion, the vehicle can overcome rolling and turning resistance, thereby conserving energy compared to its flight mode. This innovative approach not only tackles the inherent challenges of traditional rotorcraft but also enables the vehicle to navigate through narrow gaps and overcome obstacles by taking advantage of its aerial mobility. We develop comprehensive models and controllers for the Roller-Quadrotor and validate their performance through experiments. The results demonstrate its seamless transition between aerial and terrestrial locomotion, as well as its ability to safely navigate through gaps half the size of its diameter. Moreover, the terrestrial range of the vehicle is approximately 2.8 times greater, while the operating time is about 41.2 times longer compared to its aerial capabilities. These findings underscore the feasibility and effectiveness of the proposed structure and control mechanisms for efficient navigation through challenging terrains while conserving energy.

Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning

TL;DR

The Roller-Quadrotor addresses the high energy demands and terrain limitations of conventional UAVs by integrating a quadrotor with a unicycle-driven wheel and rotor-assisted turning to enable seamless aerial-terrestrial operation. The authors develop a cohesive modeling and control framework across flight, transition, and rolling modes, including rotor/thrust, wheel/ground dynamics, and planar-unicycle terrestrial dynamics, and validate it through seven experiments showing substantial energy advantages and obstacle-navigating capabilities. Key findings include a terrestrial range ~2.8× and operating time ~41.2× longer than the aerial modes, and safe passage through gaps half the wheel diameter, demonstrating improved terrain adaptability and energy efficiency. The work contributes a novel hardware design, a unified multimodal control strategy, and extensive experimental evidence supporting efficient hybrid navigation in challenging environments, with implications for UAV endurance and domain versatility.

Abstract

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight capabilities are achieved through a quadrotor configuration, with four thrust-providing actuators. Additionally, rolling motion is facilitated by a unicycle-driven and rotor-assisted turning structure. By utilizing terrestrial locomotion, the vehicle can overcome rolling and turning resistance, thereby conserving energy compared to its flight mode. This innovative approach not only tackles the inherent challenges of traditional rotorcraft but also enables the vehicle to navigate through narrow gaps and overcome obstacles by taking advantage of its aerial mobility. We develop comprehensive models and controllers for the Roller-Quadrotor and validate their performance through experiments. The results demonstrate its seamless transition between aerial and terrestrial locomotion, as well as its ability to safely navigate through gaps half the size of its diameter. Moreover, the terrestrial range of the vehicle is approximately 2.8 times greater, while the operating time is about 41.2 times longer compared to its aerial capabilities. These findings underscore the feasibility and effectiveness of the proposed structure and control mechanisms for efficient navigation through challenging terrains while conserving energy.
Paper Structure (21 sections, 16 equations, 10 figures, 1 table)

This paper contains 21 sections, 16 equations, 10 figures, 1 table.

Table of Contents

  1. Introduction
  2. Mechatronic system design
  3. System Architecture and Components
  4. Drive and Transmission System Design
  5. MODELING AND CONTROL
  6. Rotor Thrus/Torque Model
  7. Wheel Torque/Force Model
  8. Flight Model
  9. Transition Model
  10. Terrestrial Locomotion Model
  11. EXPERIMENTAL VALIDATION
  12. Experimental Setup
  13. Experiments of Taking Off and Flying
  14. Experiments of Transition
  15. Experiments of Terrestrial Locomotion
  16. ...and 6 more sections

Figures (10)

  • Figure 1: We have devised multiple operational modes for the vehicle, encompassing rolling, transition, and flying. This diagram elucidates the practical implementation of these modes in real-world scenarios.
  • Figure 2: The figure illustrates the schematic diagram showcasing the versatile capabilities of the Roller-Quadrotor, encompassing rolling on road surfaces, aerial flight over obstacles, and successfully passing through narrow gaps.
  • Figure 3: The detailed composition of Roller-Quadrotor. The serial numbers represent (1) four-spoke wheel, (2) bearing, (3) bevel gears, (4) shaft, (5) servomotor, (6) onboard computer, (7) flight controller and electronic speed controller (ESC), (8) battery, (9) quadrotor frame, (10) rotors and 5-inch three-blade propellers, (11) frame support plate, (12) horn gimbals, (13) the top view of the actual vehicle, (14) lateral view of the actual vehicle.
  • Figure 4: Drive and transmission system design of rolling mode.
  • Figure 5: The rigid body diagram of the quadrotor cite:b18.
  • ...and 5 more figures