抄録
In this paper, we proposed that roll movement realized by yaw and roll command combination method of AR.Drone 4 rotor helicopter for an automatic position stop. Since there is a large effect in the position control of the influence of self-generated airflow disturbances and unpredictable airflow effect, it is necessary to realize a stable flight in an unpredictable difficult air situation. Our aim of this study is to realize the stable position control in an indoor room by proposing yaw and roll command combination method of the 4 rotor drone. Above customization realize the helicopter AR.Drone automatic stop control within standard deviation 12.4 [cm] in 3.5×5×2.4 [m^3] room. Our proposed method found an effective use of the degree of freedom of the drone movement yaw and it will useful for hobby-class 4 rotor system's the aircraft position control under the unpredictable airflow condition.
