AERIAL VEHICLE AND METHOD AND COMPUTER-AIDED SYSTEM FOR CONTROLLING AN AERIAL VEHICLE

A method for controlling an aerial vehicle of a specific type, in particular a multirotor VTOL aerial vehicle with preferably electrically driven rotors, in which a) before a flight, a finite number of nominal trajectories (NT) for the aerial vehicle and a finite number of emergency trajectories (CT) arranged around the nominal trajectories (NT) are calculated and stored in a database available on board the aerial vehicle; b) before a flight, a finite number of type-specific admissible flying maneuvers of the aerial vehicle are pre-planned and stored in the database as a maneuver library; c) optionally before a flight, a number of discrete flight levels with different flight altitudes are defined and stored in the database; d) during a flight, the database is accessed by a computer-aided transition planning algorithm, in order, depending on a state of the aerial vehicle recorded by sensors, to change between the nominal trajectories (NT) and the emergency trajectories (CT) and also optionally between the defined flight levels by using the pre-planned flying maneuvers and to correspondingly activate a path-tracking controller and/or a flight control system of the aerial vehicle.