本論文之目的是經由符號辨識的技術來解決有關移動機器人的定位、導航與人機互動的問題，所完成之系統係使用Verilog HDL在FPGA晶片上實現。此系統由三個子系統所組成，包括全方位移動機器人子系統、地標影像辨識子系統與即時影像手寫辨識子系統。影像或符號是機器人所要接收的外在資訊，藉由使用影像辨識之技術，機器人可以偵測使用者的命令、目前所在的位置以及機器人的姿態。即時影像手寫辨識子系統可以辨識一筆畫的字元軌跡，包括阿拉伯數字 0 到 9 與英文字母 a 到 z 總共36個符號。地標影像辨識子系統可辨識天花板上張貼的數字地標圖案，包括阿拉伯數字 1 到 9。全方位移動機器人子系統則根據使用者書寫的字元與貼在天花板上之地標圖案的資訊決定其動作。

The object of the paper is intended to deal with the issues regarding positioning and navigation of a mobile robot, and human–computer interaction by using the technique of symbol identification. The system is implemented on FPGA chip by programming with Verilog. The system consists of three sub-systems including an omnidirectional mobile robot sub-system, a landmark Image recognition sub-system and a real time vision-based fingertip-writing character recognition sub-system. Image or symbol is the only external information received by the mobile robot. The robot can detect the user's command, the current location and the posture of the robot by using the technique of image recognition. The real time vision-based fingertip-writing character recognition sub-system can recognize the track of character strokes including Arabic numerals 0-9 and English alphabet a to z total of which are 36 symbols. The landmark Image recognition sub-system can identify the pattern of digit landmarks including Arabic numerals 0-9, which were pasted on ceiling.The omnidirectional mobile robot sub-system will move according to the information regarding the characters input by user and the landmark Image pasted on ceiling.

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