Abstract
Employing aerial robots for inspection and maintenance of civil structures can significantly improve the accuracy and efficiency of these missions. While the benefits of aerial robots for distant inspection of structures have been extensively demonstrated, limited airborne solutions exist that can perform such tasks in centimeter-range proximity to their surface, or while in physical contact with them. This letter describes the modeling and control of a Bimodal aerial robot, consisting of a common quadrotor equipped with two passive wheels, that is capable of efficient and stable locomotion on planar and inclined surfaces, all using the same set of actuators. A linear and a nonlinear motion controller is proposed for the different modes of operation, and their performance is evaluated through a series of experiments that make use of the hybrid characteristics of the vehicle.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
