摘 要
本論文主要是探討如何設計與研製具有智慧型停車功能之車型機器人。在論文中，此車型機器人是一具完全自主、依靠感測、中央控制晶片掌控與結合快閃記憶體機制的獨立個體，所有的計算與控制法則都在FPGA晶片中完成。首先描述整個車型機器人的硬體架構與設定，並針對車型機器人的直流馬達單元、伺服馬達單元、驅動電路單元、FPGA晶片單元、快閃記憶體記憶單元、類比數位轉換單元、數位轉換類比單元、感測器單元與電壓轉換器單元作介紹與說明。其次探討如何設計一個以模糊邏輯為基礎的控制器來達成智慧型停車控制，其包含車庫停車系統、路邊停車系統與路徑追隨等，利用電腦模擬驗證所提出之理論，並且以硬體描述語言(VHDL)對整體控制系統作一個模組化的電路設計，完成電路的模擬與佈局。然後將程式燒錄於快閃記憶體中，經由存取溝通機制使程式下載至控制晶片中。而我們所設計之停車系統控制晶片不但可以針對前進與後退作不同的模糊推論切換，還可以依不同的環境場地做行為的切換，最後我們由電腦模擬與實驗成果驗證控制晶片的可行性。

Abstract
This thesis presents the design and implementation of car-like mobile robot with intelligent parking capability. The mobile robot is completely autonomous, all sensing, computation, and control are manipulated by the field programmable gate array (FPGA) chip.
In this thesis, the system architecture of mobile robot is firstly described. The architecture of the mobile robot includes the reconstruction of the chassis of the mobile robot, FPGA chip, flash memory, DC motor unit, servo motor unit, A/D unit, D/A unit, sensor unit, power regulator unit and so on. The intelligent parking control method is addressed in the second topic, where a feasible algorithm is provided for the fuzzy logic controller to maneuver the steering angle and the speed of the mobile robot. In the third topic, the computer simulation results illustrate the effectiveness of the developed control algorithm. The real-time motion of fuzzy parking controlled mobile robot is implemented in the last topic. We not only investigate the intelligent parking control methods but also real-time command the developed FPGA-based mobile robot. All the practical experiments of the intelligent parking control system are recorded by a handhold CCD camera.

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