Enhancing UAV Energy Efficiency and Versatility through Trimodal Ground, Hovering, and Fixed-Wing Locomotion Modes

Abstract

Multimodal Unmanned Aerial Vehicles (UAVs), capable of operating in different locomotion modes, offer greater versatility and optimized energy usage. This paper presents a novel trimodal UAV that integrates ground locomotion, hovering, and fixed-wing flight using a shared actuator system. The design features a quadcopter frame with modular components, including passive wheels for ground mobility and fixed wings for forward flight. A control system for ground locomotion was implemented within the ArduPilot framework, enabling autonomous waypoint navigation across all modes. The prototype was extensively tested, with a comprehensive energy efficiency evaluation conducted through wind tunnel experiments and flight trials. In forward flight, the vehicle’s range increased, although its endurance decreased. Ground mode saw significant gains in both. Wing incidence tuning in hover improved endurance and range but reduced controllability. Additionally, the vehicle was shown to be capable of climbing inclined surfaces, such as walls.