Wi-Fi電波強度マップに基づいたスマートフォンを所持した人を追従する移動ロボットの開発

抄録

This paper describes a method for autonomous mobile robots following a human for supporting our lives closely. Robots have to recognize our behaviors and approach us for supporting. This paper introduces a robot system that follows a human with smartphone. Especially, this paper focuses on global following based on Wi-Fi radio field strength with many Wi-Fi access points installed in the environment. In this study, a Wi-Fi radio map is proposed for human following. The Wi-Fi radio intensity maps consists of Wi-Fi radio field strength and occupancy grid map of the robot. Positions of human with smartphone are decided in the Wi-Fi radio intensity map and the mobile robot travels to the positions autonomously. This paper shows some experimental results for calling robot and following human.