Development of Autonomous 4 Rotor Helicopter 50 M-range Movement Control Method by Using Single Search Light and the Evaluation

摘要

In the present study, 50 m-range autonomous 4 rotor helicopter movement control method by using single search lights was proposed, and the autonomous flight test evaluation was performed. To realize over 50 m long distance flight of the drone under unstable GPS signal situations such as under the bridge or inside tunnels for the periodic inspection, the correct self-position measurement and improvement of the control method are indispensable for stable control. The aim of this study is to compare three control methods of over 50 m range autonomous 4 rotor helicopter movement using a high power 100V AC single search light as InfraRed sources, and the searchlight is positioned at near the investigation target such as bridge handrail. By comparing the standard deviation (S.D.) from the central orbit divided by the moving distance, a proposed control method using 2nd order velocity factor and a control method using boundary condition of both sides represents high performance against general optimized P-D control. The proposed 2nd order velocity factor control and the control method using boundary condition realized 12% and 45% small S.D. comparing with the optimized PD control respectively.