在智慧工廠的背景下，物料搬運會直接影響整間工廠的製造成本和產品質量，而無人搬運車（AGV）的開發更是物料搬運中非常重要的關鍵。透過在AGV中使用新型或非傳統式感測器，例如:光學雷達，搭配同步定位與建圖(SLAM)等相關技術，可以實現應用於智慧工廠之物料搬運。然而，機器人的運作效率可能會受到復雜的演算法計算影響，導致AGV的行為出現一些難以預測的狀況，為了解決此問題，我們可以透過雲端技術，例如:雲端儲存、雲端計算等，來解決。本文基於雲端和SLAM等導航相關技術來建構兩輛自動導航AGVs研究智慧工廠之物料搬運。在此，我們開發了兩輛光學雷達移動機器人以及一款基於機器人作業系統平台(ROS）的開源套件，可簡易整合於AGV中實現自動導航。每台設備透過Wi-Fi科技進行數據交換，採用雲端主機處理
複雜的導航演算法。另外，我們也進行了幾項性能評估實驗，用以評估單台與兩台移動機器人之導航性能表現，CPU測試結果表明，使用樹梅派3B搭配雲端運算應用於兩台移動機器人下實施自動導航是可行的，然而網路傳輸測試結果表明，兩台移動機器人於同時導航模式底下，資料傳輸時間很多時候延遲超過一秒，這顯示了樹梅派3B的Wi-Fi模組不足以滿足此需求。

Within the context of smart factories, an automated guided vehicle (AGV) has a key
role to play in material handling. It directly affects the overall manufacturing cost and product quality. Therefore, using new and unconventional sensors such as lidar with SLAM technologies apply in AGV can achieve advanced material handling. The AGV’s efficiency may also be suffered by complex computing tasks and meet some unpredictable problems. Nevertheless, we can solve it through cloud technologies such as cloud storage and cloud computing. This study aims to build two navigation AGVs with cloud technologies in a smart factory. Herein, two low cost lidar-based mobile robots were developed and an open-source software package based on the Robot Operating System (ROS) platform can be easily integrated into a new AGV. Data exchange between devices is through Wi-Fi technologies. A cloud-computer is adopted to compute the complex navigation algorithms. In addition, various performance evaluation experiments were conducted to explore the navigation performance from a single robot to two robots. CPU usage tests show navigation under two robots mode through cloud computing and Raspberry Pi 3B is feasible. However, the network transmission tests show the time delay increased over one second under two robots mode. It shows the Wi-Fi module of Raspberry Pi 3B is not enough to support it.

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