在本論文中，我們應用模糊控制器去實現自走車之路徑導引追蹤，避障整合設計。並且自走車的控制命令來自於電腦的及時控制。自走車系統主要分為，紅外線感測模組，包括發射即接收模組，光感測器，電力動力系統以及數位類比訊號轉換系統。整合路徑導引追蹤，避障之目的在於應用自走車之倒車入庫的實現。當然，在整個實驗中，自走車上之感測器所量測的數據是決定自走車之轉彎角度與前進的依據。再來，在硬體實驗方面主要是完成所設計之模糊控制器將其應用在符合自走車之倒車入庫路徑的真實情況，在模擬方面，經由Matlab所完成之倒車入庫路徑模擬也非常符合實驗的真實軌跡。

In this thesis, we applied fuzzy logic control to implement a robot-car that can perform the combined function of route guidance and obstacle avoidance. The robot car design is commanded by a computer in real-time. The sensors module on the car contains the infrared and photo sensors and the A/D-D/A converter for obstacle avoidance and signal tracking proposes. To integrate the functions of route guidance and obstacle avoidance, the robot was tested to drive into a garage from certain distance and angle. A simulation program written with Matlab is also presented to model the response of the auto-car. Furthermore, the experiment results were compared with the simulation results. The hardware experiment shows robot car is able to achieve the objective of parking into the garage with designed fuzzy controller and sensors module. And, the results from computer simulation have closely matched to the results from experiment.

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