近年來科技發展迅速，為了提升人類生活品質，機器人的研究開始朝向於日常生活的應用。本論文的目標為設計一多功能服務型機器人，以其執行物件遞送與空間清掃覆蓋之任務。
物件的送任務分為兩階段，第一階段中機器人利用基於雷射測距儀之反應式導航系統，在沒有已知環境資訊的狀況下，透過預先設計之參數式軌跡產生器找到避免碰撞的最佳移動路徑，過程中經由星空之眼定位系統判定機器人是否到達給定之目的地。第二階段中，利用一未經校準的眼在手視覺系統來提供視覺資料，透過一具有以行為基礎之看而後動架構之視覺導引控制策略，來抓取所需遞送之物件。最後於清掃任務，本研究藉由雷射測距儀偵測空間中障礙物之距離及利用其梯度函數找出障礙物臨界點，作為空間分割之依據。機器人在分割後子區域內進行直線往復運動達到區域覆蓋，並以前向和後向追蹤依序覆蓋所有空間中的子區域。
最後，透過一系列的實驗來確認所發展的多功能服務用機器人之性能。

With the rising development of technology, in order to improve the quality of life, research in robot science is gradually focusing on applications to household tasks. The objective of this thesis is to develop a multi-functional service robot, which can execute material-transferring and cleaning tasks.
In the task of material transferring, the service robot moves in two stages. In the first stage of movement, a reactive navigation algorithm based on a laser range finder is applied to find an optimal collision-free moving path through pre-designed parameterized trajectory generators without any environmental information, while the relationship between the instant locations of the service robot and the destination is determined with the StarGazer module. Then, in the second stage of movement, visual information for controlling the manipulator to grasp the target object is acquired from an uncalibrated eye-in-hand visual system. A vision-guided control strategy with a behavior-based look-and-move structure is utilized to grasp the target object. In the task of cleaning, critical points on obstacles are sensed with a laser range finder as the service robot moving around. According to the distance between the robot and obstacles and its gradient function, surrounding environment can be divided into several sub-areas such that each sub-area can be covered by back and forth motions. Complete coverage is then guaranteed by constructing the Reeb graph to track uncovered sub-areas.
Finally, a set of experiments are conducted to verify the performance of the developed multi-functional service robot.

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