由於現代人力資源越來越珍貴，使用機器人取代勞力是現代社會發展的趨勢。但因為四周環境的擺設更動常造成機器人在移動過程中有大量不確定性，所以通常使用許多感測器與複雜演算法而造成了昂貴成本，也導致企業導入機器人相當緩慢。本研究之目的為開發出一套較低成本的移動機器人，在有人走動且已知的室內環境執行運送任務。本研究中的機器人系統使用前需要人工建立地圖，但不一定要人工布置地標，而機器人移動時不須外部導航資訊，僅用馬達編碼器進行定位，到站後則使用單顆相機觀看天花板的原始特徵進行定位，並消除編碼器的累積誤差。避障則使用超音波系統，減少對昂貴感測器和複雜演算法的依賴和減少人員事先安裝地標的作業時間。實驗結果顯示本研究所開發的機器人能在有人走動的已知室內環境中精準的進行運送任務。

The objective of this study is to develop a set of lower cost mobile robot to perform object delivery tasks in a manned and known indoor environment. Due to the fact that human resources are becoming more and more valuable, the use of robots to replace labor is the trend of modern society. However, due to the large amount of uncertainty in the autonomously traveling process of robots, many sensors and complex algorithms are often used, resulting in high costs and slow implementation ratios of mobile robots in many organizations. The robot system in this study needs to build a map manually before use, but it does not necessarily rely on manmade landmarks. The robot only uses a motor encoder to localize the robot when it is moving, and after it reaches a predefined destination, it uses a single camera to analyze the natural features of the ceiling to locate the robot and eliminates the cumulative error of the encoder. The mobile robot uses an ultrasonic system to tackle obstacle avoidance problem. This type of robot operation reduces the reliance on expensive sensors, complex algorithms, and the time required for personnel to install landmarks beforehand. The experimental results show that the robot developed in this research can accurately perform object delivery tasks in a known indoor environment with people walking around.

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