TactV是可空中与地面协同运行的旋翼车，能灵活跨越障碍并延长续航。
TactV: A Class of Hybrid Terrestrial/Aerial Coaxial Tilt-Rotor Vehicles
- 采用可倾斜共轴双旋翼与球形外壳结构，实现全向移动和紧凑设计。
- 通过调节重心实现节能地面模式，显著提升续航能力。
- 适用于复杂地形探测，适合机器人、巡检等场景应用。
为提升复杂环境中车辆的越障能力和续航性能，本文提出一种混合式陆空共轴倾转旋翼飞行器TactV，融合轻量化结构与高机动性优势。不同于传统串联双旋翼构型，TactV采用可倾转共轴双旋翼设计，并配备包裹机身的球形笼状结构，实现全向运动的同时进一步缩小整体尺寸。为实现空中、平面及斜面的灵活运动，建立了各模式下的动力学与控制模型。此外，利用可倾转重心设计了节能且高机动性的地面运行模式，进一步增强续航表现。空中与地面实验验证了TactV在运动能力与控制策略上的优越性。
原文摘要 · Abstract (English)
To enhance the obstacle-crossing and endurance capabilities of vehicles operating in complex environments, this paper presents the design of a hybrid terrestrial/aerial coaxial tilt-rotor vehicle, TactV, which integrates advantages such as lightweight construction and high maneuverability. Unlike existing tandem dual-rotor vehicles, TactV employs a tiltable coaxial dual-rotor design and features a spherical cage structure that encases the body, allowing for omnidirectional movement while further reducing its overall dimensions. To enable TactV to maneuver flexibly in aerial, planar, and inclined surfaces, we established corresponding dynamic and control models for each mode. Additionally, we leveraged TactV's tiltable center of gravity to design energy-saving and high-mobility modes for ground operations, thereby further enhancing its endurance. Experimental designs for both aerial and ground tests corroborated the superiority of TactV's movement capabilities and control strategies.
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