Abstract
Recently, human-friendly robots are expected to support human daily life at home, office, and scene of medical treatment and welfare with rapid declining population of children and aging problem. This research purposes to develop the guide robot that can be used in hospitals and welfare facilities etc. Concretely, in order to achieve the same performance as human guidance on a robot, first, the advanced guidance knowledge is formulated using production rules based on linguistic variables in this paper. Secondarily, a new trajectory planning method for guide robots is proposed based on quantified knowledge and distance-type fuzzy reasoning. The distance-type fuzzy reasoning method can be applied, when the common set of an antecedent part and a fact is an empty set, because this resonning uses the distance value between two fuzzy sets. Finally, the effectiveness of the proposed trajectory planning method is shown by the experiment.
