本論文之研究目標是建立移動式機器人在未知環境的導航系統，使機器人具有平面2-D的距離感測能力、室內環境輪廓建立能力。自走機器人系統主要分為，雷射測距儀、電腦、電力系統、馬達系統。透過雷射測距儀的偵測，可以得知機器人前方180度扇形區域內的環境輪廓、距離，電腦再根據這些搜集到的角度、距離資料，套入模糊邏輯做區域性的路徑規畫，使機器人可以逐步朝指定目標移動，並且在介面圖畫上週遭環境的輪廓。透過機器人每移動一步的偵測，我們便可逐步得到起點至目標點的環境圖。此外，本論文採用輪廓樣板比對的方式，比對機器人移動前後雷射偵測的環境圖，以及使用電子羅盤做轉向修正，進而補償機器人在移動過程中所造成的輪胎滑步誤差。

The purpose of this study is to propose the wheeled mobile robot (WMR) navigation system under an unknown environment, which consisting the 2D distance detection function, the environmental outline and the route constructing functions. The environmental outlines, which are the distance information in the front of the robot within the segmental area of the 180 degrees, are constructed based on the collecting angles and distance values through the detection and examination of the laser range finder. The robot also can move towards the specified goal progressively, and draw the outline of the surrounding after applying the fuzzy logic based regional path planning function. The environmental route mapping database from the starting point to the goal point can be created step by step with the detecting and analyzing the received individual map. In addition, this study adopts the mapping template to compare with the collected environmental information and a compass is also equipped to compensate the robot slipping to guide the robot’s movement more precisely.

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