A server 3 is provided with: a user dynamic data recognition unit 3a1 which recognizes user dynamic data during guidance; a guidance request estimation unit 3c which estimates a user's guidance request during the guidance on the basis of the user dynamic data; and a guiding action determination unit 3f which, on the basis of the estimated guidance request, determines a guiding action to be taken by a robot 2 during the guidance.
GUIDE ROBOT CONTROL DEVICE, GUIDANCE SYSTEM USING SAME, AND GUIDE ROBOT CONTROL METHOD