本論文旨在研製一台能夠跨越包含沙地及礫石地的崎嶇地形的機器人。環境表現中，沙地屬於易塌陷地形，礫石地則與輪胎具有高摩擦係數，不易前進，為了適應類似的地形，機器人以Rocker Bogie的結構作為設計。
機器人以dsPIC30F4011做作為控制晶片，用以驅動馬達及處理感測器的訊號。並使用CAN Bus 作為各晶片的通訊界面，而以RS-232聯絡電腦。
機器人使用雷射感測器搭配360度的旋轉鏡面及GPS感測器作為周遭地形偵測，及自身定位功能。GPS能取得小於兩公尺誤差的環境資訊；雷射感測器所得到360度的環境資訊後，將所有的環境地圖相互重疊為一組新的地圖後與GPS中已知地圖重合，用以確定目前位置並為使用者提供環境資訊。

關鍵字：Rocker Bogie、崎嶇地形跨障、雷射地圖SLAM

SUMMARY
This thesis develops a mobile robot platform for overcoming the rough terrain which includes gravel and sandy terrain. Gravel terrain is too hard whereas sandy terrain is too soft and can be easily collapsed. Both of gravel and sandy terrains are rough for mobile robot movement. The present mobile robot platform uses Rocker-Bogie suspension to accommodate robots for both rough terrains.
The brain of this robot platform is microcontroller dsPIC30F4011 which can drive motors to move and process signals received from the sensors. The way to communicate with every microcontroller is by CAN bus, except the personal computer and the main microcontroller. These latter two communicate via RS232.
On the mobile robot system, the sensors include a ranging laser and a Global Positioning System (GPS). The latter can locate a position within 2m and it can also obtain environmental information by using real world map. The laser is assembled with a specifically homemade mirror to rotate 360 degrees continuously for environmental ranging detection. Whenever the laser scans a circle, an environmental map can be made. By overlapping two maps from both GPS and laser sensor and using interface will enable map building with accurate environmental and locational information
Keywords: Rocker Bogie, Overcoming the rough terrain, Laser map building

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