本論文旨在設計一台以單晶片（PIC16F877）為控制核心的小型自走車（small mobile vehicle），其包含了車體架構、傳動控制以及超音波之避障設備，設計方面的考量主要是以輕小為原則。直流馬達提供自走車運動所需的動力來源，其正反轉則透過IC TA7291P來控制；速度控制部分，以PWM（pulse width modulation）脈波寬度調變技術來達成；定位部分，則是利用光遮斷器與編碼轉盤來測知馬達運轉的位置。主控介面以BCB（Borland C++ Builder）寫成，使用者可以在主電腦下達命令，利用無線傳輸模組將其命令傳送至自走車上的單晶片（PIC16F877），再由單晶片對自走車加以控制。其次，利用IC 8254計數器來計數超音波量測障礙物之距離，讓自走車能自行辨別障礙物之位置，以達到避障的功能。

The goal of this thesis is to design and implement a small mobile vehicle, using PIC16F877 IC as its control center. It includes the vehicle structure, driving control and ultrasonic sensors for obstacle avoiding. The main design issue considered is for the vehicle to be light and small. Two DC motors provide its motive power. An IC TA7291P is used to control its maneuverability. Its speed is controlled by a PWM (pulse width modulation) technique. The vehicle location is detected by using a photo interrupt and encoder disc mounted on the motors. The main control interface is achieved by BCB (Borland C++ Builder). A user can set command on the desk computer and then transmits it through a wireless transmission module to the vehicle. An IC 8254 counter is used to count the ultrasonic sensor’s TOF so that the distance between the vehicle and an obstacle can be measured. Therefore, safety distance can be maintained and obstacle avoiding can be achieved.

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