An improvement of flight performance in the level flight of tilted quadrotors by attaching a fixed-wing

  • Yoshikazu NakamuraEmail author
  • Atsushi Arakawa
  • Keigo Watanabe
  • Isaku Nagai
Original Article


Wide range information is required to be collected by unmanned aerial vehicles (UAVs) and the area for its take-off and landing is limited in the event of a disaster. Therefore, research on the development of a specific UAV, which has two functions of a long distance flight like a fixed-wing aircraft and of a hovering like a rotorcraft, is drawing attention recently. In this study, we focus on a hybrid tilted quadrotor, in which four rotors are tiltable and a wing is fixed. It is clarified, from a simulation comparison in a level flight mode, that the flight performance is effectively improved by adding a fixed-wing, where a tilted quadrotor is assumed to take a level flight by using a controller for a vertical-flight mode and by controlling the angles of some tiltable rotors. It is shown finally that adding a fixed-wing can save the rotor thrust about 77% per flight distance.


UAV Quadrotor Tilt rotor Fixed-wing 



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Copyright information

© International Society of Artificial Life and Robotics (ISAROB) 2019

Authors and Affiliations

  • Yoshikazu Nakamura
    • 1
    Email author
  • Atsushi Arakawa
    • 1
  • Keigo Watanabe
    • 1
  • Isaku Nagai
    • 1
  1. 1.Graduate School of Natural Science and TechnologyOkayama UniversityOkayamaJapan

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