This paper describes the development of the drum-shaped welfare robot that supports the elderly and the physically challenged. Support provision as a luggage carrier is the main purpose of this robot. The robot provides support at airports and hospitals by auto-tracking the elderly/physically challenged or the care provider with a load placed on the luggage rack of the robot. Field test was conducted to verify the auto-tracking function developed in the current phase. Auto-tracking function utilizes a CCD camera to capture the user. The maximum tracking speed was examined for two types of cameras. The omni-directional camera yielded the tracking speed of 14.6 km/h, 3.6 times the average walking speed. Following this test, the robot's tracking ability was evaluated with the omni-directional camera installed. The result was 120 cm for the average tracking distance with the standard deviation of 25 cm, when the operator's walking speed varied between 1 to 4 km/h.