本論文發展一智慧型戶外清潔機器人，其清潔機構為針對戶外之一般落葉特性而設計，機器人以TMS320LF2407A DSP(Digital Signal Processor)為控制核心，負責運動控制、超音波感測器之訊號處理、電力檢測模組之電源監控，以及透過RS232與負責影像處理之電腦端溝通。清潔機器人利用影像感測器偵測環境中的道路資訊，融合超音波感測器，獲得障礙物資訊後轉成格子點地圖，並以牛耕田方式作為全域覆蓋的路徑規劃，可以未知環境下達到自動導航完成清潔環境的工作。

In this thesis, we develop an Intelligent Outdoor Road-Cleaning Robot, which is designed to cleaning the fallen leaves. A TMS320LF2407A DSP (Digital Signal Processor) is used as the core of the cleaning robot. There are four modules in the robot, including motion control, ultrasonic sensors, power management, and image sensor modules.The image sensor data is processed by a computer. The DSP communicates with the computer through RS232. The robot detects the road information of an outdoor environment by fusing the information of the ultrasonic sensors and the image sensor.The Boustrophedon method is used for the Complete Coverage Path Planning(CCPP)to accomplish the cleaning task.Thus, the robot can finish the work of road cleaning and navigation automatically in an unknown environment.

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