Design and controller development of drone capable of landing, takeoff, and travelling on a vertical wall

This paper describes the development of a drone design and controller capable of landing and driving on the outer wall of a building, delivering the object to the target location and after completing the mission, then taking off from the outer wall and re-Four motors and wheels are located on the drone’s body to drive on the wall, and the damper was designed based on impact analysis. To flying. It suggests a solution that can fulfill a mission even in the windy conditions, which is the biggest weakness of the drone. avoid interference with the wheels, brushless DC (BLDC) motors are installed at the bottom of the drone, and propeller guards are designed to prevent collisions with the wall. The thrust must be specially controlled to attach this drone to the wall and to take it off the wall.