Fig.11(a) shows the results of the handing over between 4 DINDs.
At the beginning, the mobile robot was located in the monitoring area of DIND no.4.
Four kinds of signs of Fig.11(a) show the ID of the DIND from which the mobile robot receives the control command.
According to the position of the robot, the dominant DIND changed in the order of DIND 4, 1, 2, 3, 4.
It turned out that the mobile robot continued the human-following operation smoothly, even when it's dominant DIND changed.
The estimated positions of the mobile robot were discontinuous at the point where the dominant DIND changed.
This was caused by position measurement error resulting from camera calibration and image processing.
However, the maximum in error was about 10[cm] and the error hardly influenced the control of the mobile robot since the proposed virtual spring model suppressed the abrupt change of motion.
In wide ISpace where many DINDs are placed, it is possible to continue recognizing and controlling the mobile robot seamlessly.
10/06/2005