抄録
This paper describes the construction of a mapping robot system using RT Middleware. In the RT Middleware framework, each functional component composing a robot system is realized as an RT component. We can build a software system of the robot by connecting such RT components considering reusability of the components and flexibility of the system. In this paper, in order to improve reusability of modules, we decomposed the system into several modules -robot controller, sensors, SLAM, object recognition, planner, database, and viewer-, and developed some of them newly. We constructed the system with these modules, and confirmed its performance through an exhibition at "ROBOWorld 2009" in Hamamatsu Science Museum.
