Tilt-Ropter: 一种带有倾转旋翼和被动轮的全驱动混合空中-地面车辆
Tilt-Ropter: A Fully Actuated Hybrid Aerial-Terrestrial Vehicle with Tilt Rotors and Passive Wheels
AI总结：
提出全驱动混合空中-地面车辆Tilt-Ropter，通过倾转旋翼和被动轮实现高效多模态运动，并设计统一非线性模型预测控制器实现低跟踪误差和地面运动功耗降低92.8%。
摘要：
在这项工作中，我们提出了Tilt-Ropter，一种全驱动的混合空中-地面车辆（HATV），它集成了倾转旋翼和被动轮，以实现高效的多模态运动。与传统的欠驱动HATV不同，Tilt-Ropter的全驱动设计允许力和扭矩解耦控制，提高了机动性和地面运动效率。开发了一个统一的非线性模型预测控制器（NMPC）来跟踪参考轨迹，强制执行非完整约束，并适应运动模式间的接触效应，同时通过专门的控制分配确保执行器可行性。为了解决复杂的轮地动力学问题，集成了一个外部力估计器来提供实时交互力估计。该系统通过仿真和实际实验进行了验证，包括无缝的空地过渡和轨迹跟踪任务。实验结果表明，两种模式下的跟踪误差都很低，并且地面运动期间的功耗相比飞行降低了92.8%，突显了该平台在能源受限环境中执行长时间任务的适用性。
英文摘要：
In this work, we present Tilt-Ropter, a fully actuated hybrid aerial-terrestrial vehicle (HATV) that integrates tilt rotors with passive wheels to enable efficient multi-modal locomotion. Unlike conventional underactuated HATVs, the fully actuated design of Tilt-Ropter allows decoupled force and torque control, improving maneuverability and ground locomotion efficiency. A unified nonlinear model predictive controller (NMPC) is developed to track reference trajectories, enforce non-holonomic constraints, and accommodate contact effects across locomotion modes, while ensuring actuator feasibility through dedicated control allocation. To address complex wheel-ground dynamics, an external wrench estimator is incorporated to provide real-time interaction wrench estimates. The system is validated through simulation and real-world experiments, including seamless air-ground transitions and trajectory tracking tasks. Experimental results demonstrate low tracking errors in both modes and reveal a 92.8% reduction in power consumption during ground locomotion compared with flight, highlighting the platform's potential for long-duration missions where energy efficiency is critical.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
