This paper proposes a new method that guides humans through an exhibition corridor using a mobile robot mounted with a projector. Conventional guidance delivered by mobile robots is problematic because the robot cannot move when people gather round; alternatively, people may leave the robot and stray from the guidance route. In such cases, the robot must instruct people to move by a vocal or display message such as “please make way.” or “please come here.” Such repeated explicit instructions are uncomfortable to humans. This paper proposes a natural guidance method through a combination of both robotic and projected image movements. The proposed method supposes that human movements are affected not only by the position of the robot but also by the position of the projected image. The proposed method can control the robot and the guided person independently; that is, the robot can move while the guided person remains fixed, or the robot can remain fixed while guiding the person closer. To evaluate the method, the movements of individual 40 participants were monitored under four kinds of guiding behaviors. In these experiments, the proposed method guided each person’s positions without issuing explicit instructions.

本文提出了一种使用安装有投影仪的移动机器人引导人类通过展览走廊的新方法。移动机器人提供的传统引导存在问题，因为当人们聚集时机器人无法移动；或者，人们可能会离开机器人并偏离引导路线。在这种情况下，机器人必须通过声音或显示“请让路”等信息指示人们移动。或“请到这里来”。这种重复的明确指令对人类来说是不舒服的。本文提出了一种通过机器人和投影图像运动相结合的自然引导方法。所提出的方法假设人体运动不仅受机器人位置的影响，还受投影图像位置的影响。所提出的方法可以独立控制机器人和被引导的人；也就是说，机器人可以在被引导的人保持不动的情况下移动，或者机器人可以在引导人靠近时保持不动。为了评估该方法，在四种引导行为下监测了 40 名参与者的运动。在这些实验中，所提出的方法在不发出明确指令的情况下指导每个人的位置。