隨著社會的發展,民眾維護私人財產與安全之需求日益增加，保全科技的應用範圍也更加擴大。保全業者在提供客戶的安全服務，由原本的人力保全加入了現代化的感測系統與即時監控，彌補人力保全先天上的限制與不足，使得保全系統的涵蓋範圍能加速擴張，且深入人力不及之處。近年來，世界各個國家更是陸續研發具有智慧的保全機器人，來提升客戶的安全服務品質以及減少人力保全現場處理狀況時意外的發生。
本論文之架構主要分成兩個部分，第一部分是藉由網際網路連結到客戶家中之伺服電腦以達到網路監控多台機器人的目的，並將客戶家中所發生之事件即時錄影或拍照，以作為事後線索的追查與肇因的研判，客戶或監控人員可透過網際網路隨時取得事件資料。第二部分為路徑規劃，在多台機器人中,伺服電腦先篩選出足夠電力處理事件之機器人，再以模糊控制理論為方法由這些電力足夠的機器人位置座標與事件發生的位置座標，找出擁有避開障礙物最佳路徑的機器人與其路徑資料,以作為此機器人移動的依據,最後再將其驗證於實際操作環境。

As our society has developed, demand for better security to prevent private property from break-ins is becoming much more important. Technological applications for security guards have been expanding to robot security guards. Security robot mainly provides reliability for clients. Now, we are combining traditional human security guards with modern robot guards for immediate monitoring and sensor devices; hence, the lack of human will be fully loaded by robots. In recent years, there has been research and development in many countries on intelligent robots to increase service and reduce manpower costs.
This thesis is primarily divided into two parts. The first one covers commanding several robots from the net. In the case of incidents happening in clients’ buildings, many facts and details in the house may be displayed by video-recordings or photo-taking. Also, clients or the web control center can obtain the information through the net if necessary. The other part is path planning. In the beginning, the server-computer sorts out the robots via electrical power. Next, we present a fuzzy logic decision algorithm to find the optimal path for the energetic robot to reach the incident location. Finally, real-time experiments demonstrate the feasibility and effectiveness of the proposed schemes.

References

[1] H. R. Everett, “Robtic Security Systems,” Instrumentation & Measurement Magazine, IEEE, Vol. 6, No 4, pp. 30-34, December, 2003.
[2] A. T. P. So and W. L. Chan, “LAN-Based Building Maintenance and Surveillance Robot,” Automation in Construction, Vol. 11, pp. 619-627, December, 2002.
[3] F. Mizoguchi, H. Hiraishi, and H. Nishiyama, “Human-Robot Collaboration in the Smart Office Environment,” in Proc. of Advanced Intelligent Mechatronics’99, pp. 79-84, 1999.
[4] E. Kaneen and P. Wyard, “A Spoken Language Interface to Interactive Multimedia Services,” in IEE Colloquium on Advances in Interactive Voice Technologies for Telecommunication Services, pp. 8/1-8/7, June, 1997.
[5] T. M. Chen and R. C. Luo, “Remote Supervisory Control of An Autonomous Mobile Robot via World Wide Web,” in Proc. of ISIE’97, Vol. 1, pp. 60-64, 1997.
[6] J. Miura, Y. Negish, and Y. Shirai, “Adaptive Robot Speed Control by Considering Map and Motion Uncertainty,” Robotics and Autonomous Systems 54, pp.110-117, 2006.
[7] H. Koyasu, J. Miura, and Y. Shirai, “Real-time Omnidirectional Stereo for Obstacle Detection and Tracking in Dynamic Environments,” in Pro. the 2001IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 31-36, 29 Oct.-3 Nov., 2001.
[8] C. Alexopoulolus and P. M. Griffin, “Path Planning for A Mobile Robot,” IEEE Trans. Syst., Man, Cybern., Vol. 22, pp. 318-322, 1992.
[9] K. C. Fan and P. C. Lui, “Solving Find Path Problem in Mapped Environments Using Modified A* Algorithm,” IEEE Trans. Syst., Man, and Cybern., Vol. 24, No. 9, pp. 1290-1396, September, 1994.
[10] B. J. Oommen, S. S. Iyengar, N. N. S. V. Rao, and R. L. Kashyap, “Robot Navigation in Unknown Terrains Using Learned Visibility Graphs. Part I: the disjoint convex obstacle case,” IEEE Journal of Robotics and Automation, Vol. RA-3, No.6, pp. 672-680, December, 1987.
[11] T. H. S. Li, M. S. Chiang, and S. S. Jian, “Motion Planning of An Autonomous Mobile Robot by Integrating GAs and Fuzzy Logic Control,” in Proc. IEEE International Conference on Fuzzy Systems, Vol. 2, pp. 933-936, 2000.
[12] J. S. Oh, Y. H. Choi, J. B. Park, and Y. F. Zheng, “Complete Coverage Navigation of Cleaning Robots Using Triangular-Cell-Based Map,” IEEE Transactions on Industrial Electronics, Vol. 51, No. 3, pp. 718-726, June, 2004.
[13] V. J. Lumelsky and A. A. Stepanov, “Dynamic Path Planning for A Mobile Automation with Limited Information on the Environment,” IEEE Trans. Automat., Vol. 31, No. 11, pp. 1058-1063, 1986.
[14] J. L. Díaz de León S. and J. H. Sossa A., “Automatic Path planning for a Mobile Robot among Obstacle of Arbitrary Shape,” IEEE Trans. Syst., Man, and Cybern., Vol. 28, No.3, pp. 467-472, 1998.
[15] C. J. Taylor and D. J. Kriegman, “Vision-Based Motion Planning and Exploration Algorithm for Mobile Robots,” IEEE Trans. Robot. Authomat., Vol. 14, No.3, pp. 417-422, 1998.
[16] B. Kuipers and T. Levitt, “Navigation and Mapping in Large-Scale Space,” AI Mag., Vol. 9, No.2, pp. 25-43, 1998.
[17] http://phorum.com.tw/
[18] 蒙以正, MATLAB5專業設計技巧, 碁峯資訊, 1999.
[19] 李顯宏, MATLAB程式設計延伸技巧, 文魁資訊, 2006.
[20] 李顯宏, MATLAB7.x介面開發與編譯技巧, 文魁資訊, 2005.
[21] 張智星, MATLAB程式設計與應用, 清蔚科技, 2000.
[22] 粘添壽, 電腦網路與連結技術, 全華科技, 2006.
[23] S. Webster, Dr. R. Lippmann, and Dr. M. Zissman, “Experience Using Active and Passive Mapping for Network Situational Awareness,” Network Computing and Applications, 2006. NCA 2006. Fifth IEEE International Symposium on, pp. 19-26, July, 2006.
[24] 施威銘研究室, 真．架站王, 旗標, 2006.
[25] 江義華, JAVA優質學習篇完美經典系列, 金禾資訊, 2006.
[26] 陳炯正, JAVA贏家手冊, 碩博文化, 1999.
[27] M. Portolés, J. L. Valenzuela, D. Pérez, and O. Sallent, “Link Recovery in IEEE 802.11 WLAN Using WDS,” in Proc. Vehicular Technology Conference, 2004. VTC 2004-Spring. 2004 IEEE 59th, Vol. 4, pp. 2239-2242, May, 2004.
[28] http://www.appservnetwork.com/modules.php?name=Content&pa=showpage&pid=1
[29] http://office.microsoft.com/en-us/frontpage/default.aspx
[30] http://www.aclogic.com/
[31] http://www.microsoft.com/downloads/details.aspx?FamilyID=5691ba02-e496-465a-bba9-b2f1182cdf24&DisplayLang=en
[32] http://www.uvnc.com/index.html
[33] http://www-307.ibm.com/pc/support/site.wss/document.do?lndocid=MIGR-59161
[34] http://www.intel.com/support/wireless/wlan/pro2200bg/sb/cs-008179.htm
[35] http://www.msicomputer.com/product/p_spec.asp?model=RG54GS&class=com
[36] http://www.weichu.net/Chinese/TX-1320.htm
[37] 林建利, 應用模糊邏輯與模擬退火法於自走式機器人之路徑規劃研究, 碩士論文, 國立成功大學電機工程研究所, 民國八十八年六月.
[38] 蔣明聖, 整合基因演算與模糊控制法於自走式機器之最佳動向研究, 碩士論文, 國立成功大學電機工程研究所, 民國八十八年六月.
[39] M. B. Trabia, “Planning Near-Minimum-Length Collision-Free Paths for Robots,” IEEE Transactions on Systems, and Man Cybernetics, Vol. 23, No. 5, pp. 1481-1488, September/October, 1993.