Influence of Tilting Rotors on Maneuverability and Agility Indicators of an H -shaped Quadrator

This article investigates flight functionality indicators for H-shaped quadrotors with different tilting angles of rotors. Two major indicators that determine the dynamic functionality of a quadrotor are maneuverability and agility. These indicators are used to determine the performance of different structures of quadrotor in terms of ease of complex motions and response quickness. Three different configuration of H-shaped quadrotor composed of conventional quadrotor, quadrotor by rotors tilted inward and quadrotor by rotors tilted outward is compared using the mentioned indicators by numerical simulation. The results indicate some noticeable improvement in functionality of the quadrotor as the rotors are titled. More descriptions about the effect of tilting the rotors inward or outward around two lateral axis of x and y are given that permits to find a proper structure for a desired functionality. Finally, a comparison between three new selected configurations by the aim of increasing maneuverability and agility around all directions, is performed for results verification.