本論文主要探討保全防災機器人團隊之感測融合與行為策略的研究。保全防災機器人團隊是由三隻以上的機器人構成，這三隻機器人所構成的巡邏網對於保全防災有更好的效果。機器人利用視覺、超音波、火災感測與RFID定位系統達成保全巡邏與災害偵測的目的，藉由無線網路系統將機器人所獲得的資訊共享以便更加快速且確實地了解全區的情況，利用機器人身上的全方位移動系統使得移動較以往來得迅速並且縮短到達目的地所需要的時間，機器人更搭載有自動充電系統讓保全防災的工作可以一天24小時從不間斷。整合每項系統資訊且決定執行的先後順序使得機器人團隊能夠完成各種任務，例如，在巡邏的過程中以全方位移動的方式避開路上的障礙物，當發現火災時利用RFID系統得知目前位置再將火災警報透過無線網路傳送給監控中心，一但機器人處於低電量的狀態則會進行自動充電行為。最後，以實驗來驗證所設計之保全防災機器人團隊之感測融合與行為策略的可行性及實用性。

This thesis mainly covers the study of sensor fusion and behavior strategies for surveillance and security robot teams. The team consists of three robots, and is more effective and complete than one robot in surveillance and security. We arrive at the goal of surveillance and security at the robot mount the vision unit, ultrasonic unit, fire-detecting module, and self-location unit. The robot team shares the environmental information with one another through a wireless communication system. The robot can move faster and reduce the time using an omni-directional wheel. The robot team can work 24 hours by an automatic power recharge system. Sensor fusion and behavior strategies make robots complete the mission. The robot avoids an obstacle by fuzzy logic controller (FLC). We use an emergency decision algorithm (EDA) to detect accidents and present a path planning algorithm (PPA) for periodic patrol behavior. Each robot can avoid an obstacle by an omni-directional move in the patrol process, detect a fire, and confirm the location using an RFID system, transmit the alert to a web-control center through a wireless communication system, and recharge the power autonomously. Finally, the efficiency and feasibility of the proposed system are demonstrated by practical experiments.

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