A New Algorithm for Autonomous Outdoor Navigation of Robots that Can Fly and Drive

Abstract

Robots with the ability of dual mode locomotion can drive and fly. Autonomous selection of locomotion mode for minimum resource consumption is a challenge. Previous methods for dual mode navigation requires a 3D map of surroundings, but our proposed method requires a ground route on a 2D map. Locomotion Mode Selection (LMS) algorithm is developed for autonomous navigation of robots with dual mode locomotion. It is a path selection algorithm which selects either drive path or flight path depending upon their travel costs. A hybrid robot follows the selected path during autonomous outdoor dual mode navigation.