A study of functions for robot returned from parking to store autonomously

Recently, robots are coming into our daily life. Many researches for purpose which is coexistence and cooperation of robots and people have been studied. But in our familiar environment, there is no relation of autonomous mobile robots and us in fact. The purpose of this research is the development of the autonomous mobile robot assuming a shopping cart. This robot can return to where it was by itself, after carrying packages to the car. This paper shows the system which a robot can return autonomously. We developed and evaluated self-localization, estimation of the destination, and obstacle avoidance of these functions.