Motion coordination between a human and a mobile robot

In this paper we describe an approach to coordinating the motion of a human with a mobile robot moving in a populated, continuously changing, natural environment. The approach is based on a method for motion planning amongst moving obstacles known as the velocity obstacle approach. We extend this method by a method for tracking a virtual target which allows us to vary the robot´s heading and velocity with the locomotion of the accompanied person and the state of the surrounding environment. Our test application is a wheelchair accompanying a person through the concourse of a railway station.