Comparing Energy Consumption following Flight Pattern for Quadrotor

(1)

Comparing Energy Consumption following Flight Pattern for Quadrotor

(2)

3 3

B I

a

X a

3 3´

3

a

a

(3)

4 2

1 i i

=

2 1 2

1 2

2 32

3 42

i

i

E

T

f

L

f

m

L

E

f

0

f

0

2

1 2 3

3 4

4 4 5

1 6 7 2

2 2

8 9

f

j j

t j j

t j j j

j j j j

=

0

4 1 2 3 2

3 4 2

1 4 5 7

tf j j

R t

j j j j

=

j

1

2

9

(4)

1

2

3

2

1

3

0

r

D eff

4 2 0

4

r r

D eff

r

0

D

eff

(5)

(6)

Drone has same power consumption for hovering even though the altitude is different because of its characteristic. The power consumption of downward is lower than hovering and the power consumption of upward and forward are higher than hovering. The simulation shows comparing with hovering case that the motor speed of drone is different according to altitude of initial position when the drone fly to an arbitrary position and it shows the result as

downward hovering forward upward

(7)

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