近年來空中自主移動式機器人迅速的被開發與應用。尤其在於環境檢測、救災以及海上救援等等。然而，移動自主機器人在高海拔高度時只能執行環境檢測，在低海拔高度時無法獲得全局資訊。
此論文題出兩架不同海拔高度的空中自主移動式機器人協同操作的概念。高海拔高度的機器人提供影像全局定位。低海拔高度的機器人根據全局定位的資訊飛至降落點上方，並自主降落於降落點中。自主降落系統根據模糊邏輯控制與類神經模糊網路來改善其控制效能。所有的資訊發送至地面工作站並發送控制訊號給予機器人，以來達成無線控制的效果。
實驗數據分析分成三部分：低空移動機器人的自主降落系統、高空移動機器人的影像全局定位系統、雙機協同操作。自主降落系統其在室內環境降落誤差為6.53公分，鎖定比率為82.88%。在戶外環境實驗其降落誤差為65.33公分，鎖定比率為54.08%。影像全局定位系統在室內環境成功率為42.8%，在戶外環境僅有3.39%。實驗結果證明此概念可實現自主降落系統可實踐於室內與室外環境，但協同操作僅能實現於室內之，效能還需再改進。

In recent years, the aerial mobile robots have rapid development and application. Especially in environment detection, relief disaster and sea rescue etc. However, the aerial mobile robot can only execute the environment detection in high altitude, in the low altitude cannot obtain global information.
This thesis proposed cooperate operation concept between two of different altitude aerial mobile robots. The high altitude robot provides visual global navigation. The low altitude robots according to global navigation information fly and land on helipad autonomously. The autonomous landing control is based on fuzzy logic control and neural network to improve control performance. The ground control station obtains all of the information and send control commend which can achieve efficacy of wireless control.
The experiment analysis is based on three parts which are vision global navigation system of high altitude robot, autonomous landing system of low altitude robot and two aerial robots cooperate operation. The autonomous landing error of low altitude robot is 6.53 cm; the locking rate in indoor environment is 82.88%. The landing error in outdoor environment is 65.33 cm and the locking rate is 54.08%. The visual global navigation system of high altitude robot success rate is 42.8% in indoor environment, in outdoor environment only have 3.39%. The experiments proved that approach can achieve real time autonomous landing system for indoor and outdoor environment. However, the cooperation operation performance only achieve in indoor environment, performance need improved.

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