抄録
We construct software-reusable guide robot system by focusing reusability of RT-component. We divide the guide system into robot-unique elements and not-robot-unique elements by using RT-middleware. Then we design the not-robot-unique elements as reusable RT-component, so as to use it for different robots. Finally, we present a example of reuse of the guide robot system between omni-wheel mobile robot and small humanoid robot.
