目前室內定位系統之研究大多以無線通訊技術做為探討，然而其定位精度皆為數十公分，故本論文以紅外線攝影與紅外線模組架構出基於紅外線技術之定位系統。
本論文使用紅外線攝影機抓取紅外線LED之座標，透過座標轉換可得到輪式機器人所在位置，紅外線LED與RF通訊模組組成紅外線模組，藉由此模組可達成主動式紅外線定位與導航。此外，輪式機器人使用超音波測距模組進行未知障礙物之避障，當障礙物之座標為已知則透過路徑規劃的方式進行避障。電腦端與輪式機器人透過藍芽進行溝通，電腦端人機介面可顯示輪式機器人傳送的資訊並可以下命令給輪式機器人，達到即時監控之功能。
在紅外線定位系統下，輪式機器人可執行定位與導航，其誤差可在5~10公分之內，比起無線通訊技術之定位誤差75~100公分高出許多。

Most of the researches for indoor positioning system are based on wireless communication technology, unfortunately its accuracy is still dozens of centimeters difference. In this current research, we are able to design a positioning system that based on infrared technology by using both of IR camera and LED module.

LED module is including IR LED and RF communication module as the source of infrared. The coordinate values of LED module are recorded by IR camera that attached on wheeled robot. Moreover, wheeled robot is equipped with ultrasonic module to avoid the unknown position obstacles, or make path planning to avoid obstacles when the positions are known. User can command and monitor the wheeled robot by UI-PC, and use Bluetooth for data transfer.

Current result of this research described its high accuracy which has positioning error 5-10cm range, compared to wireless communication that has positioning error in 75-100cm range. This technique could propose as a new position system with simpler method and higher accuracy for on sight indoor environment.

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