Abstract
Autonomous mobile robot that accompanies with people and offers services to him should move autonomously by adjusting the relative position with companion properly depending on surrounding conditions. As one of such robots, this paper considers the mobile type telepresence robot. This robot accompanies with companion and moves under dynamic environments while keeping the conversation between the companion and remote partner displayed on the screen of robot. To realize such function this paper employs an artificial potential method that is optimized to above accompanying behavior. The effectiveness of the proposed method is shown through simulation and experiments using a real robot.
