本論文主要目的是建構一台移動機器人來達到三維的未知環境地圖建立，由於一般的移動機器人在進行地圖建立時，大多採取二維平面的地圖建立，因此在地圖Z軸的方向上，對於地形的變化就無從得知，因此本論文的目的在於建立三維的地圖，使得對於環境有更全面的了解。
本文使用筆記型電腦(ASUS X450J)並使用商業數學軟體MATLAB，進行環境地圖建立，本文使用2顆晶片(皆為PIC18F4550)，一顆用來控制直流馬達以及步進馬達進而帶動滑軌的升降，第二顆用來擷取馬達編碼器的訊號以及紅外線感測器的資料擷取，並且記錄機器人的移動軌跡、牆面資訊以及障礙物的位置與形狀，再透過藍芽裝置HC-05傳送資訊到電腦。

SUMMARY
The main purpose of this paper is to build a mobile robot which can generate a three-dimensional map of an unknown environment. Due to the fact that a general mobile robot largely utilizes a two-dimensional map of a given location, the Z-axis map for changes in terrain will be obscured. Thus, the purpose of this paper is to program an ability of a mobile robot to generate three-dimensional maps to enable a more comprehensive understanding of the environment.
To do so, a commercial laptop (ASUS X450J) with MATLAB (Mathworks) installed was used for environmental map building. We use two chips (both PIC18F4550), one to control a DC motor and a stepping motor, thereby enabling rail movements, and second chip to capture the motor encoder signal and infrared sensor data capture in order to track and record the motion paths of mobile robots, wall and obstacle position information, and shape. Finally, this information is sent to the computer via HC-05 Bluetooth.
Keywords: Mobile robot, map-building, infrared sensor.

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