Abstract: A multi-propeller and multi-function aero-robot which can realize both functions of flight and wall-climbing is presented in this article. The construction of this novel robot is designed. The working principle of the robot’s multi-function including wall-climbing and flight is analyzed, especially the principle of attitude control with multi-propeller. The dynamics and kinematics model of the robot when it is in wall-climbing mode is researched. Based on the model, the motion planning of the robot in wall-climbing mode is studied by considering the principle of attitude control with multi-propeller. The stabilization controller of the robot when it is in wall-climbing mode is designed by using trajectory linearization control (TLC) method. The simulation research of the robot in leg-wall-climbing mode is finished in the environment of MATLAB software. Through simulation, the feasibility of the designed motion planning and the stabilization control algorithm of the robot are verified.

Key words: propellers, flight, wall-climbing, dynamics, motion planning, control