抄録
Necessary information is different according to the action of mobile robot. Therefore, all sensor information should be sent to the mobile robot. We define position data from environment sensor as Kukanchi information. Position data format is defined according to Robotic Localization Service (RoLo) by Object Management Group(OMG).Constructed system named Navigation Assist Server (NAS) is that send path to robot using Kukanchi information. First, NAS receives message about present position, purpose position, and robot id from mobile robot. Next, NAS generates grid some map by received message, and generates safe path using these map. Last, NAS send generated path to robot. Mobile robot is able to move to goal using safe path.
