本論文主要在研究居家使用的看門狗機器人。我們透過一個架設在上方的全域CCD擷取動態環境影像，交由影像擷取卡作數位化處理，再傳送至伺服電腦作為影像辨識之依據，並利用影像處理方式定位機器人與障礙物，以作區分的動作。同時利用向量場的觀念，針對障礙物對機器人的排斥力與目標地的吸引力兩者構成的合力導引機器人到達目標地，以作環境的路徑規劃。其中伺服電腦演算後的控制指令是透過無線傳輸模組傳送給機器人，透過網際網路我們也可以控制機器人，並將架設在機器人身上的無線CCD攝取的畫面傳送給遠端主人。最後電腦的模擬與實驗結果證明整個路徑規劃的可行性。

The purpose of this thesis primarily focuses on design and implementation of the Watchdog Robot for home security. Through grabbing the dynamic environment image from a global CCD, we digitalized it by the image-grabber first and then transmitted it to the server PC as the basis of image identification. During the image process, positioning and identifying the robot and obstacles are our second step. From the same concept of vector field, the repulsive force from the obstacles and the attractive force from the target induce a resultant force to guide the robot reaching the target. The command from the server PC is transmitted to the robot through wireless modem. Moreover one can control the robot via internet and get the image form the wireless CCD mounted on the robot. The simulations and practical experiments demonstrate the feasibility of the whole idea of the path planning.

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