부산대학교 도서관

We have developed the guidance robot "EM-Ro" for the ECO35 muffler museum, and already realized in both the visitor-escort method with prepared route and visitor-following method to guide visitors as they move around. In this paper, the navigation system for guidance robots that can switch these guidance methods was developed successfully. The waypoint navigation is applied to both the visitor-escort and visitor-following method. Therefore, switching between the prepared or visitor-derived waypoints can make visitors choose the guidance method they prefer. Visitors are able to switch the guidance method anytime, by giving EM-Ro the request from the remote controller. The experimental results showed that the navigation system enable to switch guidance method seamlessly.