Power and Thrust

AscTec Hummingbird1 AscTec Pelican (unloaded) AscTec Pelican (loaded)2

http://www.asctec.de/ http://www.asctec.de/ http://www.asctec.de/

PPR Folded Quadrotor3 KMel Nano4 KMel kQuad 5005

1Daniel Mellinger, Nathan Michael, and Vijay Kumar. Trajectory Generation 2S. Shen, N. Michael, and V. Kumar, “Stochastic differential equation-based
and Control for Precise Aggressive Maneuvers with Quadrotors. International exploration algorithm for autonomous indoor 3D exploration with a micro-
Journal of Robotics Research, Apr. 2012. aerial vehicle,” Intl. J. Robot. Research,Vol. 31, No. 12, pp. 1431-1444, 2012.
3A. Mehta, D. Rus, K. Mohta, Y. Mulgaonkar, M. 4Aleksandr Kushleyev, Daniel Mellinger, Caitlin 5K. Mohta, M. Turpin, A. Kushleyev, D. Mellinger,
Piccoli, and V. Kumar, “A Scripted Printable Powers, and Vijay Kumar, “Towards a swarm N. Michael, and Vijay Kumar, “QuadCloud: A
Quadrotor: Rapid Design and Fabrication of a of agile micro quadrotors,” Autonomous Rapid Response Force with Quadrotor Teams,”
Folded MAV” Proc. 16th International Symposium Robots,Vol. 35, No. 4, Pg. 287-300, 2013. International Symposium on Experimental Robotics,
of Robotics Research, Singapore, Dec. 2013. Morocco, 2014 29
 Power Consumption
Hummingbird
700 Pelican
k500
600

500
Power Drawn (Watts)

400

300

200

100

0
0 500 1000 1500 2000 2500 3000
Thrust (grams)

Yash Mulgaonkar, Michael Whitzer, Brian Morgan, Christopher M. Kroninger, Aaron M. Harrington,Vijay Kumar, Power and weight considerations in small, agile quadrotors, in Micro-
and Nanotechnology Sensors, Systems, and Applications VI, Thomas George, M. Saif Islam; Achyut K. Dutta, Editors, Proceedings of SPIE Vol. 9083, May 2014. 30
 Power Consumption
1400

Pla+orm

Specific
Power
(W/g)


1200
 Power
Source

Specific power (Watts/kg)

1000

800

600
 power drawn (Lithium polymer batteries)

400

200
 power consumption

0

10
 100
 1000

Pla3orm
Mass
(g)

Platform mass (grams)
Power for basic quadrotor platforms and their onboard p
31
 Power and Energy
1400

Lithium Polymer Batteries

1200

Lose weight!
Specific Power (W/kg)

1000

800

600
Quadrotors with
10-20 min
400
endurance 10,000
Whr/kg
200
Bolt (10
secs) 0
0 50 100 150 200 250 300 350 400 450 500
Armstrong
(20 mins) Specific Energy (Whr/kg)
Yash Mulgaonkar, Michael Whitzer, Brian Morgan, Christopher M. Kroninger, Aaron M. Harrington,Vijay Kumar, Power and weight considerations in small, agile quadrotors, in Micro-
and Nanotechnology Sensors, Systems, and Applications VI, Thomas George, M. Saif Islam; Achyut K. Dutta, Editors, Proceedings of SPIE Vol. 9083, May 2014. 32
 Mass Distribution

Ascending Tech.
Pelican (1937 g)
KMel Nano (82 g)

Pico

Batteries ~ 33% mass

Motors ~ 25% mass

KMel kQuad (920 g) Ascending Tech.
Hummingbird (486 g) 33
 Sensors and Power
● Laser scanner
270 gm
10 W for operation plus 50-60 W for mobility
Range 30 m

● Cameras
80 gm (including frame, each camera 25 g)
1.5 W for operation plus 15 W for mobility
Range 10-15 m

34