We have been suggesting “Biofied Building” that provides the resident’s healthy life by introducing a small sensor agent robot into the house. The robot acquires the physical information of the resident and also acts as a communication robot. In the conventional motion flow, the robot always keeps following the resident. In this method, there are concerns about the risk of collision accidents with the resident or furniture and discomfort due to the behavior of the robot. Thus, we propose a path planning method incorporating waiting behavior in the motion flow of the robot in this research.
