DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels
Muqing Cao,Xinhang Xu,Shenghai Yuan,Kun Cao,Kangcheng Liu,Lihua Xie,Muqing Cao,Xinhang Xu,Shenghai Yuan,Kun Cao,Kangcheng Liu,Lihua Xie
In this paper, we present the dynamic model and control of DoubleBee, a novel hybrid aerial-ground vehicle consisting of two propellers mounted on tilting servo motors and two motor-driven wheels. DoubleBee exploits the high energy efficiency of a bicopter configuration in aerial mode, and enjoys the low power consumption of a two-wheel self-balancing robot on the ground. Furthermore, the propelle...
