Hybrid Flying-Crawling Quadrotors (HyFCQs) are transformable robots with the ability of terrestrial and aerial hybrid motion. This article presents a motion planning and control framework designed for HyFCQs. A kinodynamic path-searching method with the crawling limitation of HyFCQs is proposed to guarantee the dynamical feasibility of trajectories. Subsequently, a hierarchical motion controller is designed to map the execution of the flight autopilot to both crawling and flying modes. Considering the distinct driving methods for crawling and flying, we introduce a motion state machine for autonomous locomotion regulation. Real-world experiments in diverse scenarios validate the exceptional performance of the proposed approach.

翻译：混合飞行-爬行四旋翼（HyFCQs）是一种具备陆地与空中混合运动能力的可变形机器人。本文提出了一种专为HyFCQs设计的运动规划与控制框架。首先，结合HyFCQs的爬行约束，提出了一种动力学路径搜索方法，以保障轨迹的动力学可行性。其次，设计了一种分层运动控制器，用于将飞行自动驾驶仪的执行映射至爬行与飞行两种模式。针对爬行与飞行的不同驱动方式，引入了一种运动状态机以实现自主运动调节。在多种场景下的真实世界实验验证了所提方法的卓越性能。