Analysis of the Effect of the Indoor Environment on L-shaped Movement of Small Size Four Rotor Drone

In this paper, L-shaped movement control experiment assuming the narrow passage movement inside the building of four rotor helicopter was confirmed and the control stability was evaluated in a small size room (4× 4m, 3m height). In this experiment, a small 4-rotor drone was used and I made measurements in an L-shaped corridor, creating an environment with walls by means of partition board. To verify the problem of the orbit control with an L-shaped bend passage, an autonomous flight movement control experiment was conducted by 10 times with two different control strategies. Experimental result shows that (1) the stability of the L-shaped movement of the drone was seen the S.D. of the between trajectory of two 90 degree curves, and the overshoot fashion of the second 90 degree curves position. (2) The stability depends on the control method the PID and the proposed V2 control methods. (3) In an environment with obstacles, the overshoot is larger than when there are no obstacles, and the V2 control works effectively. This means that in such a case of drone flight of the L-shaped corridor in the building, the above two evaluation methods are useful, and stable flight can be achieved by reducing overshoot in corridors with walls. Our proposed the V2 condition control would be more useful in these case. As a result, it is necessary to carefully select the control method of the drone according to the usage scene.