案内ロボットのシステム設計

（案内対象者のよそ見行動への対応）

抄録

Most of the autonomous mobile robots that guide people indoor or outdoor do not care whether the persons to be guided are obediently following or not, and then the relative distance between the guidance robot and the follower becomes longer as a result. Looking away behavior is one of the behaviors that result such situation, and we focused on watching and texting on smartphone while walking as a typical looking away behavior. In this paper, we compared the normal situation and the looking away behavior situation, by measuring the fluctuations of relative distance between the guidance robot and a follower using a depth camera. Additionally, we added an algorithm into speed control strategy of the guidance robot that tries to maintain the relative distance between them. The result of the experiment shows the validity of the added algorithm.