隨著科技的進步，有越來越多的自動化產品，是為了運送和裝載重物更輕鬆，或是使我們的生活可以節省更多的人力資源，而被發展出來的。
本論文以微處理器(iD6800)為核心，設計一個具有追蹤功能的自走車，透過PWM訊號來控制直流馬達，使前輪轉動，達到前進的效果。藉由調整步進馬達來改變後輪的角度，讓自走車達到邊走邊轉彎的功能。
在感測器方面，利用陀螺儀來得知使用者和自走車轉彎的動作，再透過積分以及最小平方法的修正，來得轉彎的角度。自走車上的超音波感測器，可以由已知的距離，利用TOF計算出與使用者偏轉的方向以及距離，再透過步進馬達修正，使自走車可以達到對準使用者的目的，以及和使用者保持一定的距離。在通訊方面，透過ZigBee (UZ2400)作為使用者和自走車之間的溝通。
藉由整合超音波和感測器讓使用者不需要穿著任何特定顏色的衣服或在特殊環境，也可以解決使用攝影機因為陽光的影響所造成的問題。

The goal of this thesis is to design an automatic mobile vehicle tracking function, using a micro-controller (iD6800) as the control kernel. The micro-controller uses PWM to control a DC motor, which makes the front wheel rotation to go forward, and changes the angle of the rear wheel by adjusting the step motor to obtain the functions of moving and turning.
The sensor uses a gyroscope to know the turning movement of the user and the automatic mobile vehicle, and then the gyroscope uses the integral and least square methods to get the angle of turning. The ultrasonic range finder on the automatic mobile vehicle uses the TOF algorithm to calculate the offset angle and distance from the user. The automatic mobile vehicle can aim at the user using the step motor and maintain a specific distance between the user and vehicle.
The communication between the user and the automatic mobile vehicle is carried out through ZigBee (UZ2400).
The user is not required to wear any specific clothes or be in any special environment. As a result, it can overcome problems caused by the influence of sunlight when using a camera.

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