Paper Title
Evaluation of Wind Effects in Control Method of 4 Rotor Helicopter Autonomous Moving Flight

Abstract
In this paper, to evaluate the effect of wind on the proposed autonomous 4 rotor helicopter movement control method, and the autonomous flight test 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.Inaddition,evaluated the effect of the wind, which has a great influence on the 4 rotor helicopter flying outdoors,on the proposed control method.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 control.In no wind environment, the proposed 2nd order velocity factor control and the control method using boundary condition realized 16% and 24% small SD comparing with the optimized P control respectively.In windy environment, the proposed 2nd order velocity factor control and the control method using boundary condition indicated great value 253% and 207% comparing with no wind environment respectively.Although the influence by the wind was great, the flight of 50m was possible by both control.Our proposed method would be effective in the situation that there is no skilled the drone control operator and the flight by visual confirmation of man are hard conditions. Keywords - Quad rotor helicopter, Autonomous flight, Wind effects, Self position.