Abstract

This work addresses two basic problems of the multi-rotor aerial vehicle (MRAV). The first problem is the force analysis of the rotors. In order to save energy and maximize the lifetime of a given MRAV, the force distribution of the rotors is analyzed. As a result, an optimal set of angular velocities is obtained. The second problem is the configuration synthesis of the MRAV. In order to maximize the acceleration and improve the maneuverability of the MRAV, the geometric configuration (position and orientation) of the rotors is synthesized. The approaches for analysis and synthesis are presented and demonstrated by several case studies. The obtained results can be applied in the design of the MRAV and used as a guide for experimental studies.

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