本研究的主題乃是辦公室送貨機器人的即時直線路徑追蹤。使用攝影機取得走道的彩色影像後再經過影像處理系統，搜尋影像中走道標線的特徵值。透過STI（Systems Technology Inc.）控制器，將特徵值作為控制器輸入控制機器人馬達使其達到路徑追蹤的效果，並架設一個即時系統架構本實驗的運動控制系統。此外透過模型的推導與模擬了解機器人驅動輪和萬向輪的運動行為。

The development of a real-time straight line tracking for the office delivery robot mechanism. The video Camera retrieve the color image from the pavement, and search the characteristic value of the image by image processing system. Using the STI (Systems Technology Inc.) controller control the robot’s motor to tracking the straight line, and structure the real-time motion control system. Modeling the robot and to simulate the model understand the motion behavior.

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