人と並んだ状態で人追従可能なロボットシステムに関する基礎的検討

抄録

We have developed a method that enables a robot to follow a person robustly using a laser range finder. In this paper, we propose a control method of a robot that moves side-by-side with a person. Specifically, we develop a method for a robot that moves on the right side of a person. Next, we develop a method of selecting and following either left or right side of a person. Finally, we develop a method that allows the user to freely select the left and right positions. Experiments following the S-shaped path confirmed that the proposed methods worked.