Mobile robot system realizing autonomous locomotion — Combination of person following and autonomous returning

In recent years, robots are entering into our daily life. Many researches have been carried out for human-robot coexistence and cooperation purpose. In our research, we proposed concept for autonomous mobile robot to carry luggage automatically to the destination and return to the original location from the destination automatically. This concept includes two main categories, outward moving and homeward moving. In this paper, we propose the autonomous mobile robot system in homeward moving phase because the outward moving system was already developed in our past research. We develop a new control method for the autonomous mobile robot to realize the homeward moving. Three basic functions are included in this method, Mapping, Navigation and Obstacle Detection and Avoidance. These functions have been implemented into our robot system, and the experimental result evaluated the effectiveness of our method.