Intelligent Escort Robot Moving together with Human -Interaction in Accompanying Behavior-

摘要

We consider in this research how robots can render service by moving by themselves. Our aim is to develop an intelligent escort robot moving along with people so that it can support them in everyday life by interacting with humans. In this paper, we consider the pattern to be used for accompanying people and report on the realization of a mobile robot capable of accompanying a person. In order to escort a human, a mobile robot needs to know the position of the person and must be able to determine its own path in order to accompany his target. We construct an algorithm to realize the human accompanying behavior. We also consider about obstacle avoiding behavior while the robot is accompanying the person. We present the effectiveness of our approaches by showing the experimental results using real mobile robots.