In this study, we have designed and developed a coanda drone that combines the characteristics of fixed-wing drone and rotary-wing drone. The coanda drone is composed of a main body and four propulsion units. The propulsion tubes of the propulsors were developed based on the structure of a jet engine. A ducted fan is also installed inside of the propulsion tube to obtain high thrust. The drone’s dimensions are 191×121.6×121.6[mm], and it has a maximum total thrust of 5428[g] and a total mass of 1166.7[g]. The effectiveness of the mechanism of the drone was confirmed through flight experiments.
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