移動式機器人已經被廣泛的應用於日常的環境中，如家裡、辦公室及醫院等。其中人物跟隨功能的需求，對於移動式機器人來說也越來越重要。本論文的目的在於提出一個可以使移動式機器人在充滿障礙物的環境中，能跟隨人及避障之導航策略。此導航策略是以行為模式為基礎的架構，並利用基因模糊控制器獲得個別行為的命令，及使用語意相依的混合機制，來整合每個行為的命令，並且產生最終的控制決策。本研究利用一台具有雷射測距儀與全景式攝影機的全方向輪式機器人，來驗證所提出的導航策略，而其實驗結果顯示，所提出的方法能確保機器人，不但可以在不發生碰撞障礙物的情況下，到達靜態的目的地，而且也可以緊緊地的跟隨著人。

Mobile robots have been applied extensively in daily environments such as in home, offices and hospitals. Demand for a mobile robot to follow a person is increasing. The objective of this thesis is to propose a navigation strategy for a mobile robot to follow a person and avoid obstacles in an object-laden environment. In the proposed behavior-based strategy, a genetic fuzzy logic controller is applied to generate individual command action and a context-dependent blending is utilized to coordinate the commands to produce final control action. An omni-directional wheeled robot integrated with a laser range finder and a panoramic camera is employed to verify the theoretical results of the proposed method. The experimental results reveal that the proposed approach ensures that the robot can not only reach a static goal without any collision with wall or obstacles but also follow a person closely.

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