MorphoMove: Bi-Modal Path Planner with MPC-based Path Follower for Multi-Limb Morphogenetic UAV

TL;DR

This paper introduces MorphoMove, a multi-limb morphogenetic UAV capable of seamless aerial and ground navigation, utilizing hybrid path planning and MPC-based path following validated through simulation.

Contribution

It presents a novel hybrid A* based path planning algorithm and MPC-based path following for a multi-limb UAV, enabling versatile navigation in complex environments.

Findings

Root Mean Squared Error of 0.91 cm in path following

Maximum error of 1.85 cm in validation

Demonstrated adaptability in cluttered environments

Abstract

This paper discusses developments for a multi-limb morphogenetic UAV, MorphoGear, that is capable of both aerial flight and ground locomotion. A hybrid path planning algorithm based on the A* strategy has been developed, enabling seamless transition between air-to-ground navigation modes, thereby enhancing robot's mobility in complex environments. Moreover, precise path following is achieved during ground locomotion with a Model Predictive Control (MPC) architecture for its novel walking behaviour. Experimental validation was conducted in the Unity simulation environment utilizing Python scripts to compute control values. The algorithm's performance is validated by the Root Mean Squared Error (RMSE) of 0.91 cm and a maximum error of 1.85 cm, as demonstrated by the results. These developments highlight the adaptability of MorphoGear in navigation through cluttered environments, establishing it as a usable tool in autonomous exploration, both aerial and ground-based.