抄録
We are currently developing a Guide-Dog Robot for visually-handicapped person. In our concept, the robot should have a movable platform, human-machine interface and capability of avoiding obstacles. For leading them safely, the robot is required to detect their position correctly. At the same time, it is required to detect a direction that people are walking. In this paper, the algorithm for a human-machine interface to lead the people is proposed. Getting the position data of a person as follower into account would be considered by this algorithm. To realize such an intelligent leading, we propose the new algorithm that a robot detects the center of corridor and foot of the follower simultaneously with a laser range finder (LRF). Also, the prototype robot is verified that it can lead a person successfully and safely.