In view of low efficiency of multi-rotor plant protection unmanned aerial vehicles（UAV） while making a turn

whose methods needs to be redesigned

a new bend attitude control algorithm is proposed. Bend air route need to be replanned.The air route change from rectangular to curve route.A new bend attitude control algorithm is designed. UAV belongs to the underactuated spacecraft

it’s speed and direction can be used as two separate control variables.In the process of turning

flight controller output corresponding drift velocity to control its flight direction

according to change of position and speed of advance of UAV.Under the premise of not reducing speed

the multi-rotor plant protection UAV can complete trrning according to replanned curve airway. While making a turn

according to fitted curve of rotational speed-position

regulate and control operating radius

so as to avoid miss spraying in border and corner.Through contrast experiment

it shows that

for the same plant protection UAV

under the same operation condition

operation efficiency is increased about 20 %

using curve attitude control algorithm for turning

compared with that of using"几"type curve algorithm.