隨著科技化的提升與數位化的資訊，數位通訊產品漸漸地融入我們的生活之中，開創出數位生活的願景，其中家用機器人的應用已被廣泛的研發，本篇論文正是順應此潮流而提出智慧型居家清潔機器人之全域覆蓋路徑規劃與實現，主要目的在希望幫助忙碌的家庭，在上班的時間，設定讓機器人在家裡自動的做地板清潔。以軟硬體系統整合的方式來實現清潔機器人演算，在硬體上使用自走車代替機器人來實現規劃好的路徑，使用單晶片PIC16F877為控制核心，並搭配步進馬達模組、感測器模組、及PDA通訊傳輸等應用，與軟體所規劃的結果做溝通，軟體方面我們提出一套居家清潔的全域覆蓋路徑規劃演算法，確保機器人能夠清潔所有居家環境的各個角落，演算法包含沿牆清潔模式、全域清潔的基本行進規則、轉角修正、路徑轉換及返回充電模式等，目的在達到最短的清潔路徑與最小的累積旋轉角度，並從居家環境地圖，建立整個路徑規劃的資訊紀錄與比較。最後，由使用者介面操作可以透過無線網路自動導引清潔機器人，並對全域覆蓋路徑規劃的模擬路徑來做實際的導航規劃，來決定是否完成使用者指派的清潔任務。

　With the advance of information technology, digital communication products have been used in our daily life vastly; with a perspective of all digital life. Robot appliances too have been extensively researched and developed. The main prospect is for the robots to do works automatically while the owners are busy at work. This thesis focuses on the complete coverage path planning of a robot home cleaner and proposes a new planning technique for more efficient coverage and dead lock escape. An algorithm for the home cleaning robots is written with the integration of both software and hardware systems. A mobile vehicle is used to simulate a robot cleaner engaging in the route planed with the new technique.

　We propose a set of home cleaning algorithms of complete coverage path planning, which guarantees the robot will clean all the corners of an environment. The algorithms performed include wall-following cleaning module, basic complete coverage clean rule, corner revision, deadlock escaping path transform, and recharging procedure, aiming at achieving the shortest cleaning path and minimum accumulation of turning angle. Finally, the cleaning robot is guided automatically through the wireless network and given the complete coverage path planned to simulate real navigations.

[1] Gianluca Antonelli, Stefano Chiaverini, Roberto Finotello, and Riccardo Schiavon, “Real-Time Path Planning and Obstacle Avoidance for RAIS: An Autonomous Underwater Vehicle＂, IEEE Journal of Oceanic Engineering, Vol.26, No.2, pp.216-227, 2001.
[2] Hideo Mori, Shinji Kotani, and Noriaki Kiyohiro, “A Robotic Travel Aid “HITOMI” ”, Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, Vol.3, pp.1716-1723, 1994.
[3] 徐肇鴻，導盲機器人之路徑規劃與控制，國立交通大學電機與控制工程系碩士論文，民國88年。
[4] HONDA公司ASIMO，http://www.honda-taiwan.com.tw/asimo/asimo-
intro.html
[5] SONY公司QRIO，http://www.sony.net/SonyInfo/QRIO/top_nf.html
[6] iRobot公司Roomba，http://www.irobot.com/home.cfm
[7] 日立公司家用清潔機器人，http://kadenfan.hitachi.co.jp/robot/
[8] Nicholas Negroponte 原著，齊若蘭 編譯，數位革命，天下文化出版股份有限公司，1995。
[9] 劉建忠，足球機器人系統與其合作策略實現，國立中正大學電機工程系碩士論文，民國93年。
[10] 王侯禕，足球機器人之移動模糊控制器的設計，淡江大學電機工程系碩士論文，民國93年。
[11] 沈伸鴻，遠端行動式保全系統之研發應用於多重感測保全機器人，國立中正大學電機工程系碩士論文，民國91年。
[12] Young Shick Ro, “A Geometrical Sonar Maps for Mobile Robots＂, The Fifth Russian-Korean International Symposium on Science and Technology, Vol.1, pp.209-212, 2001.
[13] Akihisa Ohya, Akio Kosaka, and Avinash Kak, “Vision-Based Navigation by a Mobile Robot with Obstacle Avoidance Using Single-Camera Vision and Ultrasonic Sensing＂, IEEE Transactions on Robotics and Automation, Vol.14, No.6, pp.969-978, 1998.
[14] Amir Pirzadeh and Wesley Snyder, “A Unified Solution to Coverage and Search in Explored and Unexplored Terrains Using Indirect Control”, Proceedings of the IEEE International Conference on Robotics Automation, Vol.3, pp. 2113-2119, 1990.
[15] Howie Choset, “Coverage of Known Spaces: The Boustrophedon Cellular Decomposition”, IEEE Autonomous Robots, Vol.9, No.3, pp.247-253, 2000.
[16] Alexander Zelinsky, “A Mobile Robot Exploration Algorithm”, IEEE Transactions on Robotics and Automation, Vol.8, No.6, pp.707-717, 1992.
[17] Alexander Zelinsky, R. A. Javis, J. C. Byarne, and S. Yuta, “Planning Paths of Complete Coverage of an Unstructured Environment by a Mobile Robot”, Proceedings of the IEEE International Conference on Robotics Automation, pp.533-538, 1993.
[18] Christian Hofner, Gunther Schmidt, “Path planning and guidance techniques for an autonomous mobile robot＂, IEEE International Conference on Intelligent Robots and Systems, Vol.14, No.2-3, pp.199-212, 1995.
[19] R. Neumann de Carvalho, H.A. Vidal, P. Vieira, M.I. Ribeiro, “Complete Coverage Path Planning and Guidance for Cleaning Robots”, Proceedings of the IEEE International Symposium on Industrial Electronics, Vol.2, pp.677- 682, 1997.
[20] Joon Seop Oh, Yoon Ho Choi, Jin Bae Park, and Yuan F. Zheng, “Navigation of Cleaning Robots Using Triangular-Cell Map for Complete Coverage”, Proceedings of the IEEE International Symposium on Robotics and Automation, Vol.2, pp.2006-2011, 2003.
[21] Joon Seop Oh, Yoon Ho Choi, Jin Bae Park, and Yuan F. Zheng, “Complete coverage navigation of cleaning robots using triangular-cell-based map”, IEEE Transactions on Industrial Electronics, Vol.51, No.3, 2004.
[22] Simon X. Yang, Chmmin Luo, and Q.-H. Max Meng, “Area-Covering Operation of a Cleaning Robot in a Dynamic Environment with Unforeseen Obstacles”, Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, Vol.2, pp.1034-1039, 2003.
[23] Simon X. Yang and Chaomin Luo, “A Neural Network Approach to Complete Coverage Path Planning”, IEEE Transactions on Systems, Man, and Cybernetics, Part B, Vol.34, No.1, pp.718-724, 2004.
[24] Yili Fu and Sherman Y. T. Lang, “Fuzzy Logic Based Mobile Robot Area Filling with Vision System for Indoor Environments”, Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp.326-331, 1999.
[25] Chen Bo Chang, Chen Chao Yang, Chou Jung Hua, “The Complete Coverage Path Planning of Unknown Environment for a Home Cleaning Robot”, The Eighth International Conference on Automation Technology Conference, Taiwan, pp.277-282, 2005.
[26] 廖啟仲，自走車介面控制之研究，國立成功大學工程科學系碩士論文，民國91年。
[27] 陳柏昌，教導式自走車轉向機構設計與控制，國立成功大學工程科學系碩士論文，民國87年。
[28] 陳柏安，利用電腦視覺作自走車之障礙物定位與環境掃描，國立成功大學工程科學系碩士論文，民國92年。
[29] 顏仲偉，可教導式之自走車導航機制，國立成功大學工程科學系碩士論文，民國91年。
[30] 顧高至，智慧型多功能自走車之研發，國立成功大學工程科學系碩士論文，民國92年。
[31] 何信龍、李雪銀 編著，PIC16F877快速上手，全華科技圖書股份有限公司，2000。
[32] Texas Instruments,“TL780 Series Positive-Voltage Regulators＂, 1999.
[33] 林伸茂，自動控制實務，旗標出版有限公司，民國80年。
[34] 見城尚志與新村佳久 著，許溢适 編譯，步進馬達原理與應用，全華科技圖書股份有限公司，民國83年。
[35] Sharp GP2D05 IR Ranger，http://www.acroname.com/robotics/parts/ R21-IR05.html
[36] 王志鵬、汪彥瑋，我的數位助理Palm Pilot，第三波資訊股份有限公司，2000。
[37] 劉君卿，完全搞通Win CE，第三波資訊股份有限公司，2000。
[38] 龍仁光 編著，Pocket PC無線網路與RS-232程式設計，文魁資訊股份有限公司，2003。
[39] http://msdn.microsoft.com/mobility/windowsmobile/downloads/default.aspx
[40] Microsoft eVB工具下載，http://msdn.microsoft.com/mobility/
windowsmobile/downloads/evb_eula.aspx
[41] HIN232 Intersil, “HIN232 +5V Powered RS-232 Transmitters/
Receivers＂, 2002.
[42] Kai-Tai Song and Charles C. Chang, “ Reactive Navigation in Dynamic Environment Using a Multisensor Predictor”, IEEE Transactions on systems, man, Part B, Vol.29, No.6, pp.870-880, 1999.