近年來應用空中無人機於災難搜救，環境監控，安全監控的發展相當受到注目。空中無人機之一的平翼形機種由於其飛行模式不能盤旋於一定點亦無法低空飛行，所以無法提供大範圍的影像資訊。地面移動機器人雖然可利用其傳感器，如聲納或雷射測距儀導航，但需要預先給定目標位資訊。
本文提出了AMR（空中移動機器人）和GMR（地面移動機器人）之間的聯合行動架構以實現一個完整的自動偵搜和救援行動。首先，AMR將通過影像偵測搜索目標。接著AMR將保持追蹤GMR並提供地面環境資訊，其地面障礙物資訊結合GMR本地感測器資訊作為行為控制器的輪入進行即時的導航使得地面機器人抵達目標物。實驗結果證實該系統能找到目標物並以安全的路徑抵達目標物。高度停懸控制器實現了在XY平面保持在8.35厘米及在Z軸方向16.79厘米的精度。基於模糊理論之行為控制器結合避障行為與導航實現了在X軸方向保持在51.15厘米及在Y軸方向63.11厘米的精度。本文提出之系統結合空中與地面機器人之聯合行動架構將有助於改善福島核災教援之限制，其僅依靠獨立運作之地面與空中機器人並沒有協作和遠程操作模式。相較於傳統之同步建圖與定位(SLAM)，本文所提出的空中和地面架構能提供高效率和有效性。未來亦可應用此系統於水源物質檢測及結合微型光譜儀的各項應用。

Disaster search and rescue, environment monitoring, and security surveillance are the fields that had strong boost in utilization of Unmanned Aerial Vehicle (UAV) in recent years. The flat wing platform cannot provide hovering ability because of mechanical structure and be restricted by visual resolution at high altitude. The ground mobile robots can use local sensors like sonar or laser range finder to navigate but need to identify the target beforehand.
This thesis proposed joint operation architecture between AMR (Aerial Mobile Robot) and GMR (Ground Mobile Robot) to achieve a full autonomous search and rescue operation. First, AMR will search for the target by visual technique. After that, AMR will track GMR and provide visual sensing of the ground facts. This will combined with information from local sensors on GMR as inputs for behavior based controller, to navigate GMR to target in real time. Experimental results confirm that system can locate and approach the target a trough a collision free path with reliable performance. The hovering controller of altitude as well as position achieved accuracy of 8.35 cm in xy plane and 16.79 cm in z axis. The behavior based fuzzy controller will navigate the robot to the destination with obstacle avoidance and its average error was 51.15 mm in x axis and 63.11mm in y axis. The proposed autonomous joint cooperation between UAV and AMR contribute to improve the limitation on the disaster response robotic used in Fukushima nuclear power plant disaster. They only have independent operation (ground and aerial), no collaboration and in tele-operated mode. In comparison to the conventional SLAM only on ground mobile robot, our proposed aerial and ground architecture highly improved the efficiency and effectiveness. Both UAV and GMR have on-board micro-spectrometer and spectra analysis system for monitoring of water resource and oil spill in the ocean.

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