12-13 可変ポテンシャル場により同行者との並走・縦走の動的切り替えが可能な自律移動ロボット(第12部門 メディア工学4)

抄録

This paper presents an autonomous mobile robot dynamically changing parallel and cascade positions with an accompanying person using a variable potential field. This field is obtained by combining circular attractive potential centered at the accompanying person and vertical repulsive potential. Simulation results show the effectiveness of the proposed method.