There has been a growing demand for autonomous robot mobility technology in recent years. One example of such technology is a guide robot, which helps a user navigate to a specific destination. However, most guide robots are designed for indoor use, with few examples of their application in outdoor environments. Therefore, this research aims to develop a guide robot that can assist users outdoors, maintaining a suitable distance from the person being guided. To achieve this, we have implemented a program for stable outdoor autonomous movement, person detection in outdoor, and appropriate positioning with the guided person.