A trajectory tracking algorithm for a hopping rotochute using surrogate models

The Hopping Rotochute is a promising micro vehicle for exploring rough and complex terrains with minimum energy consumption. While it is able to fly over obstacles via thrust produced by its coaxial rotor, its physical architecture, inspired from a “Weebles Wooble,” provides reorientation wherever it hits the ground. In this paper, we propose a control strategy for a Hopping Rotochute to track any pre-planned trajectory autonomously. The proposed control scheme involves some parametric hop models to incorporate the dynamics of the vehicle in the control selection. Based on the models, an optimization problem is solved for the control of each hop during a mission. In this study, we conduct some illustrative simulations on a Hopping Rotochute to demonstrate the success of the proposed approach.