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

TL;DR

This paper introduces TactV, a hybrid terrestrial/aerial coaxial tilt-rotor vehicle with innovative design features, dynamic models, and control strategies that improve obstacle crossing, maneuverability, and endurance in complex environments.

Contribution

The paper presents a novel coaxial tilt-rotor design with a spherical cage, dynamic models for multiple modes, and energy-efficient control strategies, advancing hybrid vehicle capabilities.

Findings

TactV demonstrates superior movement capabilities in tests.

Control strategies effectively manage multi-mode operations.

Design enhances obstacle crossing and endurance.

Abstract

To enhance the obstacle-crossing and endurance capabilities of vehicles operating in complex environments, this paper presents the design of a hybrid terrestrial/aerial coaxial tilt-rotor vehicle, TactV, which integrates advantages such as lightweight construction and high maneuverability. Unlike existing tandem dual-rotor vehicles, TactV employs a tiltable coaxial dual-rotor design and features a spherical cage structure that encases the body, allowing for omnidirectional movement while further reducing its overall dimensions. To enable TactV to maneuver flexibly in aerial, planar, and inclined surfaces, we established corresponding dynamic and control models for each mode. Additionally, we leveraged TactV's tiltable center of gravity to design energy-saving and high-mobility modes for ground operations, thereby further enhancing its endurance. Experimental designs for both aerial and ground tests corroborated the superiority of TactV's movement capabilities and control strategies.