Abstract
In this paper, we propose a system framework of a mapping and navigation robot which does not depend on specific robot middleware platforms. Recently, robot middleware have attracted attention widely because that is expected to reduce the cost of robot development. However, many robot middleware platforms have been developed, so it must to define a common framework to design robot system without depending on specific platform. Therefore, we propose an autonomous mobile robot framework which independent on specific robot middleware platforms, hi addition, this model are implemented in RT-Middleware and experimentally evaluated.
