本論文研究並製造出一輛多晶片控制的車型機器人，這輛自走車能夠透過無線電數據機即時傳送感測器訊號以及馬達電壓訊號至個人電腦基地台並可即時接收基地台的控制命令。自走車上的電機硬體包括8051單晶片處理器、A/D-D/A單元、馬達伺服單元、紅外線感測器、電池、無線電數據機。本研究利用推導出的自走車動態方程式及設定好的模糊邏輯控制器進行模擬及實驗，並發展一動態模擬程式展示自走車的追蹤過程。在此研究中，也研製出利用直線馬達裝置在伺服馬達上控制目標物沿圓軌跡類似S形運動的導引系統。在實驗中，能夠成功地利用即時多晶片處理器做為控制器及資料傳輸調節器導引車子追蹤多種運動目標並利用無線電數據機與個人電腦基地台互相連結。

In this thesis, a multi-micro-processor controlled robot mobile which can track an IR target was studied and built. This mobile transfers its sensor data and motor voltage to a server personal computer and receives command from it with a radio frequency wireless modem in real time. The electronic hardware of this robot mobile, includes 8051 chip, A/D – D/A unit, motor servo unit, IR sensors, battery unit, and wireless modem. The kinematics of this mobile was derived and the controller with fuzzy logic was formulated for tracking simulation and experiment. And an animation program to show the simulated tracking process was developed. Also, a servo-motor mounted with direct drive motor was implemented to have the target moving along a circle and making S like motion. In the experiment, the real-time multi-micro-processor is successfully used as the controller and the remote data-transfer regulator directing the mobile to track several target motions and linking to the server computer with wireless modem.

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