Mechatronics Design and Control of a Hybrid Flying-Ground Robot for Long-Endurance Mobility
Mutaz Ryalat, Nathir A. Rawashdeh, Nader Abu Alrub, Hisham ElMoaqet · 2024
This paper presents the design and control of a novel hybrid robot capable of both aerial and ground locomotion, aimed at enhancing long-endurance mobility in challenging environments. The robot integrates mechatronic systems to seamlessly transition between flying and ground modes, offering versatility in diverse operational scenarios such as search and rescue, environmental monitoring, and industrial inspection. Key design features include a lightweight yet robust frame, energy-efficient propulsion systems, and a dual-mode navigation algorithm that optimizes energy consumption by prioritizing ground mobility when aerial performance is unnecessary. Simulation results demonstrate the effective design in both modes. By reducing the energy demands of aerial locomotion and maximizing the efficiency of ground-based travel, this approach contributes to sustainability efforts, reducing the overall environmental impact of robotic operations. This hybrid design promises a new avenue for autonomous systems where endurance, versatility, and sustainability are critical factors.