Mobile robot with following and returning mode

This paper proposes the mobile robot embedded two functions, the following function and returning function in the indoor environment with monocular camera. In the following mode, the robot follows the target object such as the person who walks in front of robot, and runs until reaching his destination. To follow him, the region extraction method is applied. Furthermore, the robot records the running route. In the returning mode, the robot runs by tracing the recorded route. We developed the mobile robot based on the electronic wheelchair and carried out some experiments. As the result, we confirm that our robot runs both following and returning mode by satisfactory performance.