The concepts of guide dog robot Harunobu-5 and a stereotyped motion following a person are described. The guide dog robot consists of a mission planner, digital map, interactive navigator, vision system and undercarriage system. Following a person is activated when the robot fails to move along sign pattern. The robot stops and finds a moving pedestrian by color vision. After that the robot follows it by tracking its jacket or trousers image. The following person concept was implemented and tested on Harunobu-5 and was successful in following only one person.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Mori et al. (2002) studied this question.
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