Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering robust and efficient autonomous navigation in unknown environments. To resolve this issue, we develop a model-based planning and control framework for terrestrial aerial bi-modal vehicles. This work begins by deriving a unified dynamic model and the corresponding differential flatness. Leveraging differential flatness, an optimization-based trajectory planner is proposed, which takes into account both solution quality and computational efficiency. Moreover, we design a tracking controller using nonlinear model predictive control based on the proposed unified dynamic model to achieve accurate trajectory tracking and smooth mode transition. We validate our framework through extensive benchmark comparisons and experiments, demonstrating its effectiveness in terms of planning quality and control performance.

翻译：地面与空中双模态车辆因其跨域机动能力而受到广泛关注。然而，其双模态动力学特性显著增加了运动规划与控制的复杂度，从而阻碍了其在未知环境中实现鲁棒、高效的自主导航。为解决这一问题，我们提出了一种面向地面-空中双模态车辆的基于模型的规划与控制框架。本文首先推导了统一动力学模型及其对应的微分平坦性。利用微分平坦性，我们设计了一种兼顾求解质量与计算效率的优化轨迹规划器。此外，基于所提出的统一动力学模型，我们采用非线性模型预测控制设计了跟踪控制器，以实现精确轨迹跟踪与平滑模式切换。通过广泛的基准对比实验，我们验证了该框架在规划质量与控制性能方面的有效性。