Comparison of design approaches of fully actuated aerial robots based on maximum wrench generation and minimum energy consumption

Abstract In this paper we present the comparison of two different approaches for designing the rotor tilt angles of a fully actuated aerial robot. A common approach is based on maximizing the forces and torques the robot can generate. To determine the tilt angles, simple knowledge of the maximum required wrench is necessary. Another approach focuses on following an a priori defined trajectory with minimum energy consumption, taking advantage of the nonlinear power-thrust characteristic of a real propeller. For this purpose, complex knowledge of the complete trajectory is necessary, especially for rotors with fixed orientation. Both approaches are systematically analyzed and compared with regard to energy saving potential of the energy based approach, depending on the chosen wrench trajectory. The energy based approach can be powerful for robots with in-flight adjustable rotors.