We present the dynamic model and control of DoubleBee, a novel hybrid aerial-ground vehicle consisting of two propellers mounted on tilting servo motors and two motor-driven wheels. DoubleBee exploits the high energy efficiency of a bicopter configuration in aerial mode, and enjoys the low power consumption of a two-wheel self-balancing robot on the ground. Furthermore, the propeller thrusts act as additional control inputs on the ground, enabling a novel decoupled control scheme where the attitude of the robot is controlled using thrusts and the translational motion is realized using wheels. A prototype of DoubleBee is constructed using commercially available components. The power efficiency and the control performance of the robot are verified through comprehensive experiments. Challenging tasks in indoor and outdoor environments demonstrate the capability of DoubleBee to traverse unstructured environments, fly over and move under barriers, and climb steep and rough terrains.
翻译:我们介绍了DoubleBee的动态模型和控制,这是一种新型的混合空地车辆,由安装在倾斜伺服电机上的两个螺旋桨和两个电机驱动的轮子组成。DoubleBee利用双旋翼机构在空气模式下的高能量效率,并在地面上享受两轮自平衡机器人的低功耗优势。此外,螺旋桨的推力作为地面上额外的控制输入,启用了一种新的解耦控制方案,其中使用推力控制机器人的姿态,使用轮子实现机器人的变换运动。使用商用组件构建了DoubleBee的原型。通过全面实验验证了机器人的功率效率和控制性能。在室内和室外环境中进行了具有挑战性的任务,证明了DoubleBee在穿越非结构化环境、越过和移动障碍物以及攀爬陡峭和崎岖的地形方面的能力。