Design And Control Of Air/Ground Dual-Modal Mobility Robot

Multi-modal mobile robots are an important branch of mobile robots,which can use different modals to adapt to different environments.With a wide range of motion,highly environmental adaptability,and long endurance are the general advantages of these robots,which have broader application prospects than ordinary mobile robots.The air-ground dual-modal mobile robots are an essential class of multi-modal mobile robots with outstanding advantages of both ground motion capability and air flight capability.The robot can traverse steps,bottomless pits,fences,and other obstacles and achieve rapid maneuvering and large-scale reconnaissance with the fight modal.At the same time,the robot uses the ground motion modal to improve the working endurance,maintain concealment and achieve detailed search near the ground.In practical applications,mission execution efficiency can be significantly improved by designing a reasonable modal-switching strategy.Therefore,this thesis focuses on the design and control of an air-ground dual-modal mobile robot.Firstly,the prototype system of the air-ground dual-modal mobile robot is developed.Then,based on the analysis of the application scenarios of the robot,the corresponding functional and technical indicators are determined,and the robot’s structure is designed,including mechanical structure design and electrical system construction.Through analyzing and comparing the advantages and shortcomings of various design schemes,the overall configuration of four-rotor tilting to provide dual-modal driving force and passive chassis to achieve ground movement is selected.After designing the appropriate power components,selecting the power module,sensor module,constructing the electrical system of the platform,and realizing two localization systems with outdoor GPS and indoor Visual Odometry,the robot system is completed.Secondly,the motion control of the air-ground dual-modal mobile robot is realized.Based on the completion of the robot’s dual-modal dynamics modeling and kinematics analysis,focusing on the design of the control law for the robot’s flight control,the PID control,fuzzy control,fuzzy PID control,and model-feedforward PID control algorithms are designed.Then,these algorithms are tested in a simulated environment.The experimental results show that the model-feedforward PID control law is suitable for indoor smooth and safe flight,and the fuzzy PID control law is suitable for outdoor highly maneuver and fast flight.Finally,the robot’s autonomous takeoff and landing control and modal switching control are carried out.The experimental results verify that the model-feedforward PID control algorithm has superior motion control performance in an indoor environment.The robot can implement an autonomous modal switch after identifying obstacles,and realize the obstacle traverse.Under different modals,the motion energy consumption of the robot is compared and analyzed,which demonstrates that the robot has a longer work endurance and higher energy utilization under dual-modal motion control.