An Optimization Problem for Quadcopter Reference Flight Trajectory Generation

Table 5

Comparison results of induced efforts.

	Cost function type	Lift force	Roll moment	Pitch moment	Heading moment
		(N)	(N⋅m)	(N⋅m)	(N⋅m)
1	Minimum-energy
2	Minimum-length [15]
3	Minimum-energy [17]