Study of Indoor Navigation with 3D Airship Robot by Topological Information
Hiroshi Kobayashi, Taichi SHIBA, Kiyokazu FURUKAWA, Yoshiki Kato, Koki KIKUCHI · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2004
Sensor-based navigation is one of the most important researches for mobile robots domain and there are many research works for sensor-based navigation. We have proposed the insects inspired landmark navigation to pinpoint the target position. Three landmarks are used for our previous navigation method by using 3D blimp-type flying robot and navigation undertakes successfully though, it is revealed that to stay at one point is difficult and trajectory is not efficient. To overcome these issues, new navigation method is proposed in this paper. Two landmarks are used and changes of landmark size are applied to control the 3D blimp-type flying robot. Experimental result shows the new navigation method works out very well.