WLuav: An Air-Ground Robot with High Ground Adaptability and Trajectory Tracking Performance
Shijie Huang, Zhiqiang Miao, Chuanpeng Niu, Kangcheng Liu, Yaonan Wang
Abstract
Air-ground robots have received more and more attention and applications due to their air-to-ground motion performance and excellent energy efficiency. However, airground robots have many gaps including complex structure mechanisms, low terrain adaptability and low-precision controllers to significantly limit practical application. In this paper, an air-ground robot, wheel-leg unmanned aerial vehicle (WLuav), is proposed based on a five-link wheel leg structure to obtain excellent ground adaptive and air maneuvering capabilities. Based on the improved structure mechanism, a hierarchical adaptive agile controller is proposed to improve its trajectory tracking accuracy and ground adaptability. Besides, a mode switching strategy based on the support force solver is proposed to provide smooth and rapid mode switching. Finally, comprehensive experiments and a benchmark comparison are carried out to validate the performance of the proposed system, where the WLuav system shows excellent ground adaptive performance and trajectory tracking performance, and the energy efficiency can reach 79.46 %.
BibTeX
@inproceedings{iros2025_wluavanairground,
title = {WLuav: An Air-Ground Robot with High Ground Adaptability and Trajectory Tracking Performance},
author = {Shijie Huang and Zhiqiang Miao and Chuanpeng Niu and Kangcheng Liu and Yaonan Wang},
booktitle = {IROS 2025},
year = {2025}
}