現代科技發展迅速，技術越來越進步，人類開始研發各種讓日常生活更輕鬆、便利的技術。機器人的研製就是一種能廣泛應用於日常生活中、使人們生活更加便利的技術。能夠主動跟隨使用者的機器人，能隨時隨地的為使用者服務，能達到看護、保全、貨運等功能。本論文整合了無線射頻感測器(Radio Frequency)與超音波感測器，利用兩者傳遞速度極大差異的特性，構成定位系統，來計算使用者與自動跟隨椅的距離與角度。應用感測到使用者的位置資訊來及時的迴授控制，使自動跟隨椅能在固定的距離內自主跟隨使用者，同時再利用紅外線感測器偵測環境中的障礙物，執行避障與跟隨功能。

Person Follower Robot is a widely used in daily life to make people's lives more convenient. Person Follower Robots can take the initiative to follow users and serve users anytime and anywhere for offering reach care, preservation, freight and other functions. In this thesis, the radio frequency sensors and ultrasonic sensors are integrated to construct the positioning system. The characteristic of the maximum difference between the two transmission signals is adopted to constitute a positioning system for calculating the distance and angle between users and Person Follower Robot. Via taking the user's location and using timely feedback control motor, the Person Follower Robot can autonomously follow a fixed distance from users. The robot uses infrared sensors to detect obstacles in the environment simultaneously to avoid obstacles and follow users.

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