Voyager ( comic story ) Voyager was a Sixth Doctor comic published in " Doctor Who Magazine " . It introduced the character of Astrolabus and began the Voyager arc . Summary . The Doctor and Frobisher find themselves in Antarctica , but things take a turn for the worse when they meet Astrolabus and the mysterious Voyager . Plot . It Was a Devil Ship . . . ( 1 ) . The Doctor is a prisoner aboard Voyager ' s " Death - ship " . They journey to the edge of the world and fall off . The Doctor wakes in the TARDIS to find the door open . Outside , his coat is draped over a snowman , his umbrella under its arm . He collects them and continues to journey the wastes , considering how he has come to enjoy Frobisher ' s companion ship . The Doctor meets with Frobisher , and they spot a ship frozen in the ice , which the Doctor recognises as the one from his dream . Boarding it , they find star chart s in the hold and prepare to leave with them when a man enters behind them , threatening the pair with a gun . The Lighthouse at the End of the World . . . ( 2 ) . The man ties the Doctor to a chair , then makes his escape with the charts . Frobisher goes up on deck and the Doctor quickly frees himself . They watch through a telescope as he makes his escape in an original da Vinci flying machine . The Doctor and Frobisher return to the TARDIS and follow the man . They arrive at a lighthouse . The TARDIS picks up powerful energy readings . Outside , the Doctor finds Frobisher has gone into the water . He emerges to regurgitate a fish for the Doctor . Suddenly , a robot - like humanoid appears and advances upon them . The Lighthouse . . . ( 3 ) . The Doctor tells Frobisher the being is an Automaton , a living soul in a mechanical body . It walks past them and into the sea . The Doctor guesses that it could be connected to a craft Frobisher saw under the water . The Doctor instructs Frobisher to return to the TARDIS . He peers through the lighthouse ' s keyhole and sees the man he chased sitting within . Opening the door with his sonic screwdriver , the Doctor threatens the man with his own gun . However , the man notes the Doctor wouldn ' t kill him and makes his escape . The Doctor follows and falls . He finds himself hanging on to the side of the lighthouse , far above the ground . The man leans over him and suddenly the Doctor finds he is hanging from a table , inside , with his leg s safely on the ground . He asks the man who he is . The figure tells him various aliases and then proclaims himself legend . Dreams of Eternity ( 4 ) . Astrolabus tells the Doctor the story of Alexandria , a city he helped make great . It fell and Astrolabus took to the stars . However , the Doctor identifies him as the thief who stole " The Book of the Old Time " . The Doctor flees and finds the world around him transforming . Running down a winding staircase , he sights only a door left in the blank interior . Tentacle s come from behind and try to squeeze him , but he breaks free . With a final effort , he escapes and finds himself in space . The Final Chapter ( 5 ) . The Doctor finds himself back on Earth , in the sea . Inside the TARDIS , Frobisher activates the TARDIS scanner , spots the Doctor in the water and runs to help him . Astrolabus makes his way to the top of the lighthouse and it turns into a rocket . Voyager appears in his ship as the rocket takes off , disappearing into the clouds . The Doctor finds himself once more on Voyager ' s ship at the edge of the world . Again he wakes to find himself on a rocky outcrop with Frobisher . They return to the TARDIS . The Doctor sees Voyager once more , instructing him to return his star charts .