本論文提出在室內環境中自動導航車對於障礙物偵測與閃避障礙物之可行方法，並且透過網際網路來作遠端控制自動導航車。整個系統不僅機器人可以自動導航而且可以透過JAVA技術將遠端所探測的影像回傳。在自動導航車中DSP晶片與FPGA晶片分別負責影像處理及行為模式決策之功能。本文首先介紹自動導航車之系統架構，詳述自動導航車之影像處理系統以及感測器。接著於自動導航過程中，對於障礙物基底線偵測與自動導航車在航行中前面的物體必須要加以辨別。此外，我們運用環境中已存在的自然地標—走廊的燈光，作路徑規劃，並設計一模糊追燈控制器，來完成路徑追蹤的工作。另外，詳述以遠端控制自動導航車系統架構，包含JAVA技術、通訊介面電路的設計與遠端傳輸的延遲等。最後，我們將藉由電腦模擬及實際的結果，來驗證所提出方法的效益及適用性。

In this thesis, we propose an effective obstacle detection and avoidance approach for navigating an autonomous vehicle in an indoor environment, where the internet-based remote control ability is also developed. The whole system not only guides the vehicle automatically but also gets the security information by JAVA techniques. The DSP chip and FPGA chip mounted on the robot will be responsible for the image processing and motion control. Firstly, the structure of vehicle will be introduced, including of image processing system, sensor module, and the hardware architecture of the robot. Secondly, for automatic guidance, we should detect baseline of the obstacle and the objects that appear in front of the vehicle navigation in the corridor. Besides, we develop a path-planning based on the natural landmark—the lamp of the corridor. A fuzzy controller is designed to perform the lamp-tracking task in order to make the vehicle to follow this path. The remote control system developed in the networked vehicle including JAVA techniques, communication interface design and remote transmission latency will be described in detail. Finally, both simulations and the practical experiments demonstrate the feasibility and effectiveness of the proposed schemes

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