This paper discusses developments for a multi-limb morphogenetic UAV, MorphoGear, that is capable of both aerial flight and ground locomotion. A hybrid path planning algorithm based on A* strategy has been developed enabling seamless transition between air-to-ground navigation modes, thereby enhancing robot's mobility in complex environments. Moreover, precise path following is achieved during ground locomotion with a Model Predictive Control (MPC) architecture for its novel walking behaviour. Experimental validation was conducted in the Unity simulation environment utilizing Python scripts to compute control values. The algorithms' performance is validated by the Root Mean Squared Error (RMSE) of 0.91 cm and a maximum error of 1.85 cm, as demonstrated by the results. These developments highlight the adaptability of MorphoGear in navigation through cluttered environments, establishing it as a usable tool in autonomous exploration, both aerial and ground-based.

翻译：本文讨论了一种多肢形态发生无人机MorphoGear的研发进展，该无人机兼具空中飞行与地面移动能力。基于A*策略的混合路径规划算法被开发出来，实现了空对地导航模式间的无缝切换，从而提升了机器人在复杂环境中的机动性。此外，通过采用模型预测控制（MPC）架构对其新颖的行走行为进行控制，实现了地面移动过程中的精确路径跟随。实验验证在Unity仿真环境中进行，利用Python脚本计算控制量。结果表明，算法的性能通过均方根误差（RMSE）0.91厘米和最大误差1.85厘米得到验证。这些进展凸显了MorphoGear在杂乱环境中导航的适应能力，确立了其作为空中与地面自主探索可用工具的地位。