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. >
['Hideo Mori', 'Mitukuni Sano']
A guide dog robot Harunobu-5-following a person