To provide a mode of controlling a drone that enables it to fly over typical turning paths.
Respective motors of a drone (10) can be controlled to rotate at different speeds in order to pilot the drone both in attitude and speed. A remote control appliance (16) produces a command to turn along a curvilinear path, and the command comprises a left or right turning direction parameter and a parameter that defines the radius of curvature of the turn. The drone receives the command and acquires instantaneous measurements of linear velocity components, of angles of inclination, and of angular speeds of the drone. On the basis of the received command and the acquired measurements, set-point values are generated for a control loop for controlling motors of the drone, and the set-point values control horizontal linear speed and inclination of the drone relative to a frame of reference associated with the ground so as to cause the drone to follow the curvilinear path at a predetermined tangential speed (u).
MICHAEL RISCHMULLER
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岡部 讓
松井 孝夫
越智 隆夫
高橋 誠一郎
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