在台灣農田面積小且零散分布，因此農業型態為勞力密集型。近年來，農業勞動力人口驟減，農業人口老化，農業器具例如割草機、耕田機，其自動化及智慧化是未來的趨勢。而現今室外籃球場、棒球場、網球場的整地也是人為推動機器進行整地工作。以上所述情境有一大共通點為：他們均為室外空曠、少障礙物的環境，並且在人為操控機械的情形，完成行走一個覆蓋區域的路徑。本文將發展此類型的自動化智慧載具代替人類的工作，將有助於大量減少進行這些工作的時間以及體力。
為完成上述情境，本文完成了覆蓋路徑演算法的開發與模擬，並且設計載具的循軌控制系統，使雙輪驅動的自走車能夠依循期望的路徑行走。其中，覆蓋路徑規劃方法分為全域路徑規劃以及區域性即時避障的規劃，由於本文的場景屬於空曠障礙物單純的室外場地，全域的路徑規劃中採用策略性模板的方法完成，區域性避障的路徑規劃可使載具避開地圖建模時，未被偵測的障礙物，其使用了圖形膨脹的方法找到障礙物邊緣，並沿邊閃過障礙物。接著，結合全域與區域的路徑規劃演算法，使得載具更有彈性也更有完成工作的能力。循軌控制系統設計的部分，首先利用非均勻有理B樣條曲線(Non-Uniform Rational B-Splines, NURBS)規劃一個速度上平順的控制指令，再利用PID控制器完成循軌的控制。接著，將以上利用感測器RTK GPS模組完成系統整合與實作。

The aim of this paper is to design a coverage path planning algorithm and integrate it with an unmanned outdoor ground vehicle that can automatically go through a desired path. As the farmland is small and scattered in Taiwan, we have a labor-intensive agriculture. In recent years, however, the agricultural labor population has been reducing and aging since few young people want to work in this field. Therefore, developing automated intelligent equipments, like lawn mower, tiller, etc, is very important. The aim of this paper can not only fit the scenarios mentioned above, but also fits situations like organizing outdoor basketball courts, baseball field and tennis courts.
The achievement of this paper is that it developed a coverage path planning algorithm and designed a tracking control system that allows the two-wheeled differential vehicle to pass through desired path points in an outdoor environment based on GPS sensors.

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