本論文主旨在於實現具有自動導航及遠端遙控之校園導覽智慧型載具。在智慧型載具方面，以嵌入式系統作為系統之運算及控制核心，並透過控制器區域網路(Controller Area Network, CAN)接收感測器之量測值，即時給予控制指令來操控智慧型載具。在自動導航方面，利用自行開發之微機電(Micro-Electro-Mechanical System, MEMS)慣性感測元件(Inertial Measurement Unit, IMU)、全球定位系統(Global Positioning System, GPS)、磁力計及輪速計等多感測器，並結合擴展式卡爾曼濾波器(Extended Kalman Filter, EKF)以提升自動導航之精確性。此外，為了避免環境因素而無法接收導航量測值時，而造成自動導覽功能失效，我們研發了一遠端監控系統，利用在遠端服務的人員以虛擬駕駛的概念來加以遠端操控校園導覽智慧型載具。最後，經由實驗結果證明本論文提出之整合多感測器自動導航及遠端遙控應用於校園導覽之可行性與有效性。

This thesis presents an intelligent vehicle combined with multi-sensor-based autonomous navigation and remote monitoring/control functions. To control the vehicle, an embedded system plays a role as the central computing and control unit for receiving the information from sensors, and sends the real-time commands to control the intelligent vehicle. The autonomous navigation system of the vehicle consists of a self-developed inertial measurement unit (IMU), a global positioning system, a magnetometer and wheel speed sensors combined with the extended Kalman filter (EKF) to improve the performance of autonomous navigation. In order to avoid navigation failure caused by environmental conditions, we developed a remote monitoring system, by which users can control the intelligent vehicle remotely to realize the concept of virtual driving. Finally, the experimental results successfully validated the applicability and effectiveness of the intelligent vehicle to achieve autonomous campus navigation using multi-sensor-based autonomous navigation and remote monitoring/control function.

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