| Summary: | Motivated by a bioinspired optimal aerodynamic design of a multi-propeller configuration, here we propose a ducted multi-propeller design to explore the improvement of lift force production and FM efficiency in quadrotor drones through optimizing the ducted multi-propeller configuration. We first conducted a CFD-based study to explore a high-performance duct morphology in a ducted single-propeller model in terms of aerodynamic performance and duct volume. The effect of a ducted multi-propeller configuration on aerodynamic performance is then investigated in terms of the tip distance and the height difference of propellers under a hovering state. Our results indicate that the tip distance-induced interactions have a noticeable effect in impairing the lift force production and FM efficiency but are limited to small tip distances, whereas the height difference-induced interactions have an impact on enhancing the aerodynamic performance over a certain range. An optimal ducted multi-propeller configuration with a minimal tip distance and an appropriate height difference was further examined through a combination of CFD simulations and a surrogate model in a broad-parameter space, which enables a significant improvement in both lift force production and FM efficiency for the multirotor, and thus provides a potential optimal design for ducted multirotor UAVs.
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