In Intelligent RT Software Project, (A) the indispensable mobile intelligence of the boarding type personal mobility robot, and (B) the construction support function of the mobile intelligent robot, are achieved by developing items as follows.

(A) The indispensable mobile intelligence of the boarding type personal mobility robot:

(1) Development of Position estimation and Navigation intelligence that uses ucode environmental infrastructure
(2) Development of control support intelligence that uses Face recognition technology
(3) Development of obstacle avoidance intelligence that uses an existence probability map by integration of sensor
(4) Development of operation mobile intelligence modules and autonomous mobile intelligence modules

(B) The construction support function of the mobile intelligent robot:
(5) Development of the motor core unit
(6) RTC for Non-OS and Embedded system with Native Bus support
(7) Implementation of CORBA/ RTM on TRON