Novel design and position control of an omni-directional flying automobile (Omni-Flymobile)

This paper presents a new concept of a flying and driving vehicle with a quadrotor structure. Design and control of an omni-directional quadrotor vehicle called Omni-Flymobile are presented. Omni-Flymobile is a form of a quadro copter with four wheels known as a kind of a quadrotor helicopter which has four actuating fans. Omni-Flymobile is designed for both the capability of flying in the air and driving on the ground. The Omni-Flymobile can be transformed into a vehicle that navigates on the ground. A tilting mechanism of the Omni-Flymobile allows to convert a flying mode to a driving mode or vice versa. Maneuvering control of the Omni-quadro Flymobile can be performed by controlling speed of each fan. Experimental studies of the Omni-Flymobile are presented to show the feasibility of a flying and driving vehicle as a future concept car.