本論文主要目的是建構一台全方位移動機器人來達到未知環境地圖的建立，由於一般的輪型機器人在進行環境探索時，常會遇到車體迴轉半徑過大而困於死結中的問題；或是車子在進行沿牆行走時，遇到轉彎處車體需要旋轉，而降低建立地圖的效率，本論文利用全方位移動系統可以往任意方向平移且不需固定車頭方向的特性，用此移動平台可使機器人在避障或是建立地圖上更加有效率。
　本文利用小型筆記型電腦(ASUS EPC 901)作為主控端去對車體進行控制，而機器人的控制核心為PIC16F777以及PIC16F873A這兩顆單晶片，PIC16F777用來控制直流馬達以及紅外線感測器的資訊擷取，而PIC16F873A用來抓取馬達編碼器的訊號，並且紀錄機器人的移動軌跡以及牆面資訊，再透過RS-232串列埠回傳至主控端。
　在實驗結果中，結合車體及主控端針對凹角、凸角這兩種不同的環境地形去做環境地圖的建立，其中凹角環境的平均距離誤差為4%、平均夾角誤差為5%，且多邊形環境的平均距離誤差為9%、平均夾角誤差為11%。

In this thesis, an omni-directional mobile robot for map building in unknown environments was proposed. Usually, while the mobile robot detects the environments, it would get trapped due to the radius of gyration of the vehicle itself. And when the vehicle moves along the walls, the body needs to turn at the corners, thus, it would decrease the efficiency of map building. Therefore, the proposed omni-directional mobile robot in this study is a system which could shift in any directions without rotating the body. Furthermore, using this moving platform could make the robot more efficient on obstacle avoidance and map building applications.
The vehicle was controlled by a robot-borne Eee-PC (ASUS EPC 901), and two microchips, PIC16F777 and PIC16F873A, were used to control the robot motions, signal acquisition of Infrared sensors, and the signals from motor encoders. Therefore, the vehicle moving tracks and the wall detection would be recorded by the microchips and then transmitted to the control center immediately via the RS-232 transmission protocol.
　In the experiments and results, the robot would move according to the corner and edge differentiation algorithm, calculate the angles of the obstacle avoidance, change forward and backward smoothly, and also shift in any directions without turning the body. In this case, all the corners and edges in the unknown environment could be found and re-built in an environment map accurately.

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