FIELD: drone control.
SUBSTANCE: invention is related to a method for simultaneously planning a trajectory and a sequence of deformations for drone tensegrity. To implement the method, a correspondence is established between the covering ellipsoids and tensegrity structure configurations in a certain way, a sequence of ellipsoid deformations is planned on a given map, a transition is made from a sequence of deformed ellipsoids to a sequence of structure tensegrity configurations using the previously established correspondence.
EFFECT: improved efficiency and accuracy of trajectory planning and sequence of deformations for drone tensegrity.
1 cl, 3 dwg, 1 tbl
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