Patent ID: 7818090

Claim:
A method of controlling movement of a mobile robot, said method comprising: detecting at least a position and a moving direction of an accompanied target; and controlling movement of the mobile robot, based on the detected position and the moving direction of the accompanied target, so that the mobile robot keeps following a path that is directed toward the same direction as the moving direction of the accompanied target and is parallel to the moving direction, wherein said controlling further includes: controlling movement of the mobile robot so that a distance between the accompanied target and the mobile robot becomes a predetermined distance, calculating the path along which the mobile robot moves, based on detected information of the accompanied target that is detected in said detecting; calculating a velocity of the mobile robot, based on the detected information of the accompanied target and a difference between a position of the mobile robot on the calculated path and a current position of the mobile robot; and controlling the mobile robot so that the mobile robot moves at the calculated velocity.