Table 3.

Action table.

Conditions					Action	Details
Is found any color code?	Is the distance to the detected color code less than 1 m?	Is the angle between a user and color code perpendicular?	Is the current place destination?	What is current situation?
×	-	-	-	All	Go-straight	-
○	×	○	-	All	Go-straight	-
○	-	×	-	All	Turn	to the direction that is orthogonal to the detected QR codes
○	○	○	×	Hall, Corridor and Junction	Turn	to guided direction by directional QR codes
○	○	○	×	Door	Turn	to the direction to return back to the previous route
○	○	○	○	Door	Stop	-