Method for controlling arc turning of multi-rotor unmanned aerial vehicle

The invention relates to a method for controlling arc turning of a multi-rotor unmanned aerial vehicle. The method is technically characterized by comprising the following steps of: 1, planning a route task of an unmanned aerial vehicle through a three-dimensional map, and setting a turning radius of a waypoint; 2, enabling the unmanned aerial vehicle to automatically calculate circle center coordinates of arc turning; and 3, enabling the unmanned aerial vehicle to control the deviation to always keep the distance of the turning radius through a PID control mode according to the position deviation of the real-time position and the circle center coordinates, and enabling the unmanned aerial vehicle to conduct arc turning. According to the invention, by using a control method of arc turning in a three-dimensional space, when an unmanned aerial vehicle arrives at a waypoint, the turning radius of the waypoint can be set in this way, and when the unmanned aerial vehicle executes a task, the positions of a startin