機電技術(Mechatronics)整合了機械技術(Mechanics)及電子技術(Electronics)，是機電整合所發展出來的名詞。而機器人系統則對電子機械技術(Mechatronics)做了很好的詮釋；其中自走車系統乃是機器人系統的一個分支，本文以發展「無人自走車」為目標，透過團隊合作的方式，達成系統整合所需的相關技術，進而應用在其它不同目的的系統上。
自走車主要分為馬達控制介面、人機控制介面、導航系統及感測系統等四個子系統，本文主要著重於自走車系統之馬達介面和人機操作介面之設計與實現。驅動介面以微處器（89C52）為核心，透過PWM信號來控制以功率電晶體（Power MOSFET）所構成之H電橋，而達到馬達轉向的目的；另外，以光學方法配合16位元的計數器（8254）來測量馬達的轉速，並作為系統決策之用。在IC之間的資料傳輸方式是採用I2C Bus的串列傳輸標準，其好處是線路簡單、節省輸出埠和軟、硬體擴充方便及維護簡單。
人機操作介面是以Borland C++ Builder為基礎，並配合RS232之串列傳輸標準來傳送控制指令和接收自走車所回傳的資料。

Mechanics and electronics are integrated into mechatronics and robotic system is the most suitable explanation of it. Autonomous Guide Vehicles (AGVs) is a branch of robotic system and we will develop the system by team work.
In the study, AGVs were divided into four sub-system, motors controlled interface, human-machine controlled interface, guiding sub-system and sensing sub-system. The goal of the study was to design and realize the human-machine controlled interface and motors controlled interface which communicated with host computer by serial transmission (RS232 standards).
The human-machine controlled interface was constructed by Boland C++ Builder and took a serial communication with AGVs. The motors controlled interface was based on MPU (89C52) and other logic circuit. The motion of motors was driven by PWM generator, H-bridge and other controlled logic circuit. The optical method was integrated with programmed counter/timer (8254) to detect position and velocity of AGVs. Finally, a serial communication (I2C bus standard) in ICs was also applied to the study.

1.Hayati S., “The Rocky 7 Rover : A Mars Sciencecraft Prototype”, Jet Propilsion Laboratory, California Institute of Technology, International Conference on Robotics and Automation, April 1997
2.http://www.aibo.com/
3.http://word.honda.com/robot/
4.賴耿陽，智慧型機器人導論，科技用書，民國77年
5.Bajd T., Kralj A., and Karcnik T., “Unstable States in Four-legged Locomotion”, Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, Vol. 2, pp. 1019-1025, 1994
6.Pack D.J., and Kak A.C., “A Simplified Forward Gait Control for Quadruped Walking Robot”, Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, Vol. 2, pp. 1011-1018, 1994
7.Weidemann H.J., Pfeiffer F., and Eltze J., “The Six-Legged TUM Walking Robot”, Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, Vol. 2, pp. 1026-1033, 1994
8.Nishi A., “Development of Wall-Climbing Robots”, Computers Elect. Engng, Vol., 22, pp. 123-149, 1996
9.Nishi A. and Miyagi H., “Mechanism and Control of Propeller Type Wall-Climbing Robot”, Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, Vol. 3, pp. 1724-1729, 1994
10.Nishi A., Wakasygi Y., and Watanabe K., “Design of a Robot Capable of Moving on a Vertical Wall”, Advanced Robotics, 1-1, pp. 33-45, 1986
11.Antonelli G., Chiaverini S., Finotello R., and Schiavon R., “Real-Time Path Planning and Obstacle Avoidance for RAIS: An Autonomous Underwater Vehicle”, IEEE Journal of Oceanic Engineering, Vol. 26, No. 2, pp. 216-227, 2000
12.DeVault J.E., “Robotic System for Underwater Inspection of Bridge Piers”, IEEE Instrumentation and Measurement Magazine, pp. 32-37, 2000
13.Mori H., Kotani S., and Kiyohiro N., “A Robotic Travel Aid “HITOMI", Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, Vol. 3, pp. 1716-1723, 1994
14.陳柏昌，教導式自走車轉向機構設計與控制，國立成功大學碩士論文，民國88年
15.Borenstein J., Everett H.R., and Feng L., “Navigating Mobile Robots – Systems and Techniques”, A K Peters, Ltd., 1996
16.Kaliardos W., Cosgrove M., Chow T., Steiner S., and Farritor S.,"Companion – Overview of a Telerobotic Ground Vehicle”, The Charles Stark Draper Laboratory, Inc., Cambridge, MA 02139
17.Sabrina D. Q., “How to Implement I2C Serial Communication Using Intel MCS-51 Microcontrollers”, Intel Application Note, AP-476, 1993
18.梁煒煜，I2C BUS 簡介---以24C16為例，電子情報，民國88年
19.李適中，直流馬達速度控制-伺服系統（基礎篇），全華科技圖書，民國76年
20.Philips Semiconductor, “DC Motor Control”, Power Semiconductor Applications, pp. 283-306
21.謝秉峰，教導式自走車驅動控制系統之設計，國立成功大學碩士論文，民國88年
22.柯政昌，自走車動力驅動系統之研究與設計，國立成功大學碩士論文，民國90年
23.陳添智、潘曉林，應用量測脈波波寬方法於馬達轉速量測，技術學刊，第十一卷，第三期，pp. 417-422，民國87年
24.趙麗松和張瑗 譯，精通序列通訊，儒林出版社，民國83年
25.Campion G., Bastin G., and D’Andréa-Novel B., “Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots”,IEEE Transactions on Robotics and Automation, Vol. 12, No. 1, pp. 47-61, 1996
26.Wu W., Chen H., and Woo P.Y., “Optimal Motion Planning for a Wheeled Mobile Robot”, IEEE International Conference on Robotics and Automation, pp. 41-46, 1999
27.白中和，DC馬達控制電路設計，建興出版社，民國77年
28.曹昭陽，電動馬達與控制，五南圖書出版公司，民國88年
29.鄭淼仁，自走車電力系統規劃與設計，國立成功大學碩士論文，民國88年
30.鍾明政， MCS-51 原理與實習，長高出版社，民國86年