We present SmartWalkCoach, a mobile AI companion that supports the full walking journey: from pre-walk planning to in-walk guidance through to post-walk reflection. Addressing a gap between map navigation and motivational coaching, SmartWalkCoach orchestrates three lightweight agents: (1) GeographyAgent for conversational route curation from nearby points of interest and user preferences while delegating pathfinding to map APIs; (2) AccompanyAgent for context-aware, just-in-time prompts that blend informational cues with relational encouragement; and (3) SummaryAgent for concise reflection and next-step planning. This end-to-end, tool-using design aims to lower cognitive load in planning and sustain engagement and motivation during walking through delivering dynamic, cadence-aware interventions. We conducted an in-the-wild, two-period AB/BA crossover study (N=12), where each participant completed two comparable walks with counterbalanced conditions: Information-only versus Information+Motivation. Linear mixed models show that adding motivational, companion-like dialogue significantly improved outcomes: participants reported higher positive feelings and better user experience, with no evidence of carryover. Thematic analysis surfaced two design imperatives for mobile companions: supportive, relational expression and context-aware timing (e.g., avoiding high-load moments, intervening at fatigue/milestones). Our contributions are: (i) an end-to-end, tool-using agent architecture for everyday walking that reduces cognitive load during planning and accompaniment; (ii) a controlled field evaluation linking context-aware motivation to affect and UX gains; and (iii) actionable design guidance on expression, timing, and frequency for mHealth companions.We outline limitations and paths toward multimodal, voice-first companions, with adaptive personalization mechanisms.

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