近年來自動化科技蓬勃發展，相對的帶動機器人系統逐步提升，其應用層面遍及了工業界及生活周遭；然而機器人要能在空間中順利移動並協助人們完成指派的任務，其必須具備自行導航的能力。如今以視覺為主的導航應用甚廣，許多相關的研究也不再拘泥於平面的導航；然而，在以建立影像車道線為基礎的導航方法中，較少探討影像死角對其造成的影響，但室內環境存在著許多影像死角，例如走廊轉角、樓梯銜接平面等，故此為不容忽視的問題。有鑑於此，本文旨在發展爬梯機器人之全自主跨樓層導航系統，為了解決各路段影像死角並銜接不同路段完成長距離跨樓層導航，本研究提出以無線訊號輔助視覺的方法偵測各死角的位置，使機器人接近該區域時能自行調整攝影機視角來維持基本的影像視野。
文中以視覺感測器進行導航資訊擷取，並在已知環境中以明顯的特徵點或特徵線來建立影像車道線作為導航依據，其中探討的環境包含有室外走廊、樓梯和室內走廊。在導航控制器設計上本研究採用以影像為基礎之影像伺服控制架構，並藉由車道線在影像上的位移與角度誤差作為回授控制，使機器人維持在車道中間移動。最後本文藉由一自製之爬梯機器人進行由一樓至四樓之跨樓層導航測試，證實所提方法之可行性。

Navigation is an important technique for autonomous robots to freely roam in desired environments and successfully perform assigned tasks. As the demands of complicated tasks in various environments keep increasing in service robots, recently cross-floor navigation using vision sensor has drawn many interests from researchers. However, in either elevator or stairway environments, the issue of image dead zones still limits most discussions in local area navigation and requires further investigation. This thesis aims to develop an autonomous cross-floor navigation system for stair-climbing mobile robot. Particularly, wireless sensor modules are installed in the image dead zones so that the robot can adjust and continue its motion accordingly, achieving such long-distance navigation task. By using upward and forward looking camera setups, imaged based navigation is conducted in most road sections. Image features including ceiling landmarks, stair lines, and skirting lines are adopted to detect robot guiding lanes with appropriate image-processing algorithms. To let the robot follow the detected image lanes correctly, a visual servo control driven by image errors and based on car-like mobile robot differential kinematics is also applied for motion control. A self-made stair-climbing robot is finally used to validate the effectiveness of the proposed navigation method.

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