昆虫の視覚による帰巣行動を参考にした飛行ロボットのナビゲーション(機械力学,計測,自動制御)

抄録

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 propose the insects inspired landmark navigation to pinpoint the target position in this paper. There exit several research works such as snapshot model and average landmark model which require the absolute bearing information (compass) and visual one. Whereas our method called relative angle model (RAM) needs only visual information which needs relative positions of 3 landmarks. By simulation and experiment using 3D blimp-type flying robot, we find that the pinpoint 3D navigation works out well by RAM.