TactV: A Class of Hybrid Terrestrial/Aerial Coaxial Tilt-Rotor Vehicles

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.