Title: A new hybrid aerial and ground hoverbike: dynamics and control

Authors: Abdullah T. Elgammal; Manar Lashin

Addresses: Electrical Engineering Department, Benha University, Benha, Egypt ' Electrical Engineering Department, Benha University, Benha, Egypt

Abstract: This paper presents the basic mathematical model of a new hybrid six-rotor hoverbike. The proposed hoverbike has two modes of operation: the hovering mode and the ground mode. The hovering mode will act as a hexacopter with an overlapping technique to reduce weight and floor area. While the 'on-earth' mode, will act as a traditional land vehicle that moves on wheels. The proposed system provides more power and more lift, which means more time to fly. However, increasing drone size and weight, as well as manufacturing costs, work against it. The dynamic simulation results are carried out using MSC-ADAMS® and MATLAB®/Simulink. The pure pursuit algorithm is applied to the proposed system in the on-earth mode. A small-scale prototype of the system is being developed to validate the conceptual design. The dynamic simulation results and the experimental tests show the effectiveness of the proposed system during the two modes.

Keywords: hoverbike? aerial and ground vehicles? multicopter? dynamics? hexacopter? control.

DOI: 10.1504/IJMRS.2023.137431

International Journal of Mechanisms and Robotic Systems, 2023 Vol.5 No.4, pp.291 - 307

Received: 14 Jun 2022
Accepted: 29 Sep 2022
Published online: 19 Mar 2024 *

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