本論文規劃了一套自走車的導航機制，包括地圖資訊計算模組，循找路徑模組及動態控制模組，由自走車上的PDA負責整個導航系統的動作，包括路徑規劃，閃避障礙物，轉換指令等工作，再由做為馬達控制器的單晶片控制器將PDA的指令轉換為馬達的控制訊號，由模組間的互相合作以整合地圖資訊並規劃路徑，使自走車能順利地找到一條由起點通往終點的路徑，另外也可使用教導式路徑規劃預先設計路徑點之間路徑使自走車能結合自動循徑及使用者教導以依照使用者的規劃來行進，並改良了轉向的機制使得旋轉半徑減小，準確度也更加提昇，也輔以實驗的結果以印證理論的正確性。另外無線網路系統應用於自走車上使得自走車的控制能在數千公里遠的一端來進行，而使用PDA取代傳統的電腦則可使自走車的重量大幅減少，增加使得自走車在移動時更加靈活。

In this thesis, we introduced a navigation mechanism for an autonomous mobile robot. The mechanism is composed of a map information analyzing module, a path finding module, and a dynamic control module. The navigation is handled by a personal digital assistant (PDA) on the mobile robot. This PDA-based system is in charge of the tasks including path planning, obstacle avoiding, and command transformation. The navigation system will first find a path and translate it into commands of a motor controller. Then, a single chip computer, the motor controller, will translate the commands into electronic signals to actually control the motor. The path can also be generated by a guiding system, which uses another PDA to actually guide the mobile robot. The learned path will navigate the robot later autonomously. Applying the wireless LAN module to the mobile robot system makes the users capable of controlling the robot far from thousands miles away. And replacing the personal computer on the mobile robot with a light-weighted PDA also greatly reduces the load of the robot, and makes the navigation more agile.

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