| CPC B64U 60/60 (2023.01) [B64U 10/16 (2023.01); B64U 2101/00 (2023.01)] | 12 Claims |
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1. A method for a wall rolling operation of an unmanned aerial vehicle (UAV) having at least one motor along a predetermined path comprising:
determining a trajectory for the UAV for the wall rolling operation based on a current position and a current orientation of the UAV and a target position and a target orientation of the UAV and the predetermined path;
developing kinematic parameters relating the determined trajectory to UAV movement;
determining motor inputs for the at least one motor of the UAV specific to the developed kinematic parameters, the motor inputs including a thrust motor input and a drag motor input wherein the motor inputs provide for six degree of freedom movement of the UAV; and
operating the UAV based on the determined motor inputs to move the UAV along the determined trajectory during the wall rolling operation along the predetermined path.
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