自主式移動機器人已廣泛地發展並應用於不同的領域中，例如居家照護、運輸、勘查、工業、服務、教育等等。在這些應用裡面,在未知環境下移動式機器人自主式導航仍是一個極具挑戰性及重要的議題。
健康監測以及居家照護由於人口老化日趨嚴重而得到關注。如何讓老年人以及行動不方便者不用移動到昂貴的居家照護機構而在家裡也能提供安全並且舒適的看護系統成為一個重要的議題。
本論文建構了智慧型控制系統基於類神經網路環境分類器以及模糊邏輯控制演算法應用於移動式機器人於不同場景下從起始點抵達目標終點並建構光譜儀檢測系統應用於居家照護環境中為老年人檢測藥物。
自主式導航系統經由實驗結果驗證移動式機器人能有效率的在無任何障礙物碰撞之下抵達終點,以及在不確定性的感測器讀值下此系統依然能保持強健性。
光譜儀檢測系統建構直方圖分析應用於待測物光譜之穿透率以及吸收率並與建立之光譜資料庫做比對。實驗結果驗證此系統能經由與光譜資料庫比對檢測並辨認出待測物。

Autonomous mobile robot is one of the advanced technology that has been used for various purposes in many application fields include home care, transportation, exploration, industry, service, education, etc. In above tasks the autonomous navigation of the mobile robot in an unknown and unstructured environment is one of the most challenging problems.
Health monitoring and healthcare provisioning at home have received increasingly attention for addressing the problems of an aging population. How to provide the elderly and disabled to live at home safely and comfortably rather than move to a costly healthcare facility becomes an important issue.
In this thesis proposed an intelligent behavior control system based on neural network as situation classifier with fuzzy logic algorithm for an autonomous mobile robot traversing through various different terrains to reach the target position follow by the Micro - Spectrometer content detection system to detect and examine the medicine for elder in the home care environment.
The navigation experiment results show the mobile robot can effectively and efficiently complete the trajectory and reach the target position without any collision. The result demonstrates the system is robust to the uncertainties in the sensory readings.
The Micro - Spectrometer content detection system implements the histogram to analyze the transmittance and absorbance spectrums of the testing content and compares with the database spectrums. The experiment results show the unknown content can be detected and recognized with the database.

[1] C.-H. Ko and M.-F. Ricky Lee, "Design and fabrication of a microspectrometer based on silicon concave micrograting," Optical Engineering, vol. 50, p. 084401, 2011.
[2] L. Qiao, L. Yong-gang, and X. Cun-xi, "Optimal genetic fuzzy obstacle avoidance controller of autonomous mobile robot based on ultrasonic sensors," in IEEE International Conference on Robotics and Biomimetics, ROBIO '06, pp. 125-129, 2006.
[3] G. Mester, "Obstacle avoidance of mobile robots in unknown environments," in 5th International Symposium on Intelligent Systems and Informatics, SISY, pp. 123-127, 2007.
[4] C. Kai-Hui and M. R. Lee, "Obstacle avoidance in mobile robot using neural network," in International Conference on Consumer Electronics, Communications and Networks (CECNet), pp. 5082-5085, 2011.
[5] C. L. Chen and M. R. Lee, "Global path planning in mobile robot using omnidirectional camera," in International Conference on Consumer Electronics, Communications and Networks (CECNet), pp. 4986-4989, 2011.
[6] T. M. Dat, Y.-F. N. Nieh, M.-F. R. Lee, W. N. Khotimah, and L. Q. Dat, "Intelligent autonomous navigation system for the wheeled mobile robot," in 2011 International Conference on Manufacturing Science and Technology, ICMST 2011, September 16, 2011 - September 18, 2011, Singapore, Singapore, pp. 1611-1618, 2012.
[7] T. Kuzniz, D. Halot, A. G. Mignani, L. Ciaccheri, K. Kalli, M. Tur, A. Othonos, C. Christofides, and D. A. Jackson, "Instrumentation for the monitoring of toxic pollutants in water resources by means of neural network analysis of absorption and fluorescence spectra," Sensors and Actuators, B: Chemical, vol. 121, pp. 231-237, 2007.
[8] F. B. M. Suah, M. N. Taib, and M. Ahmad, "Processing the signals from an optical fibre pH sensor by using an artificial neural network," in Student Conference on Research and Development, SCOReD, pp. 340-343, 2002.
[9] G. A. Eiceman, M. Wang, S. Prasad, H. Schmidt, F. K. Tadjimukhamedov, B. K. Lavine, and N. Mirjankar, "Pattern recognition analysis of differential mobility spectra with classification by chemical family," Analytica Chimica Acta, vol. 579, pp. 1-10, 2006.
[10] G. Anderson, C. Sheesley, J. Tolson, E. Wilson, and E. Tunstel, "A mobile robot system for remote measurements of ammonia vapor in the atmosphere," in IEEE International Conference on Systems, Man and Cybernetics, SMC '06., pp. 241-246, 2006.
[11] E. Tunstel, G. Anderson, and E. Wilson, "Motion trajectories for wide-area surveying with a rover-based distributed spectrometer," in Automation Congress, 2006. WAC '06. World, pp. 1-8, 2006.
[12] E. H. Mamdani and S. Assilian, "Experiment in linguistic synthesis with a fuzzy logic controller," International Journal of Man-Machine Studies, vol. 7, pp. 1-13, 1975.
[13] T. Takagi and M. Sugeno, "Fuzzy identification of systems and its applications to modeling and control," IEEE Transactions on Systems, Man and Cybernetics, vol. SMC-15, pp. 116-132, 1985.