本論文針對下肢癱瘓患者提出一應用於室內場所之自主電動輪椅控制系統，此一系統包括：地圖建置、輪椅定位、路徑規劃與避障功能。首先，地圖建構和自我定位和方面，本論文採用2D雷射測距儀即時取得掃描距離資訊，並使用機器人作業系統（Robot Operating System；ROS）之Hector SLAM（Simultaneous Localization and Mapping）開放式程式碼完成上述功能。路徑規劃導入區域最佳快速拓展隨機樹（Local-optimized Rapidly-exploring Random Tree；LoRRT）針對室內已地圖環境規劃出導航路徑，並結合人工位能場（Artificial Potential Field；APF）於導航路徑上所面臨的牆面及動靜態障礙物，做出適時的避障反應。此外，本論文也開發一人機介面（Human Machine Interface；HMI）提供使用者顯示與操作之介面，其除了提供地圖、輪椅位置及方向、導航路徑、雷射掃描外，也可以輸入導航目的資訊。最後，本研究以本實驗室所自行組裝架設之電動輪椅為測試平台，並經由不同之測試條件來驗證此一系統在實際環境運作下之效能表現。

This thesis presents an autonomous indoor electric wheelchair control system for the patients with lower-extremity disability. The proposed control system is composed of map creation, wheelchair localization, path planning and obstacle avoidance. The map creation and wheelchair localization were achieved in terms of a 2D LiDar scanning information, and the 2D scanning information was further processed with the Hector simultaneous localization and mapping (SLAM) open source code of the robot operating system (ROS). Moreover, the path planning was realized with a local-optimized rapidly-exploring random tree (LoRRT) in terms of a pre-known map information. During the path following stage, the scanned static and dynamic obstacle information was inferred with the artificial potential field to dynamically produce a collision-free trajectory as well as to return to the desired path. Finally, this work also implemented a human machine interface (HMI) for the users to investigate the information, including map, wheelchair position and heading, navigation path, LiDar scanning information as well as to set the navigation goal position. As a consequence, a hand-made electrical wheelchair in our laboratory was used for the validation platform. The experiments were done to validate the feasibility of the proposed autonomous wheelchair control system.

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