近年來，隨著現代科技的蓬勃發展與普及，智慧生活空間之概念逐漸萌芽成長，大幅提升智慧型機器人的需求與重要性，機器人轉變為提供人們日常生活便利性的服務型機器人，改善人類生活品質且分擔工作負擔。此外群體機器人日益被重視，能被運用於複雜度較高的任務，且執行效率遠高於單一機器人。另一方面，室內定位技術對於機器人發展亦為重要研究議題之一，機器人於地形複雜的室內環境中執行任務，除了不可或缺的自主移動能力，定位環境能讓機器人得知各自位置，有效提升工作效率與可靠度。本文研究目標為提升移動載具於室內定位環境的操作可靠度，首先注重於室內定位環境的發展與建立，以智慧地板與Wiimote定位系統為主軸，發展整合性智慧地板室內定位系統，能有效地對目標進行公分等級的定位，同時與Wiimote 2D定位系統進行整合，發展多感測器之室內定位系統。接著結合Wiimote 3D定位系統與可控式IR LED陣列之概念，建立室內Wiimote 3D定位環境，觀測移動載具於定位環境中的地理位置與運動姿態。另一方面，本文以全向輪移動載具及四軸飛行載具為發展平台，首先發展自組式四軸飛行載具系統，建立開源式控制系統環境與發展人機介面系統，進一步整合Wiimote 3D定位系統，應用於飛行載具之3D空間定位、姿態感測與路徑監測。接著透過空間3D飛行載具與平面2D輪型載具的群體合作，發展群體移動載具於室內Wiimote 3D定位環境之定位與運動控制，展示多類型機器人能不受限於室內環境地形提供更多的服務內容，未來能進一步增加載具本身之感測設備，實踐更多與人們互動之功能，大幅提升載具的工作效能。

A novel dual-type robot application based on integrated indoor 3D localization scheme has been proposed for exploring more feasible intelligent applications. This localization scheme integrates both force-sensing-based 2D floor panel localization and Wiimote-based 3D localization to construct an indoor 3D localization living space. A force-sensing floor panel has been extendedly developed for the purpose of indoor localization. Both a general localization algorithm model and calibration algorithm have been proposed for improving the extensive practicability and localization accuracy of the panel. In addition, the proposed system has been shown the feasibility to develop a sensor fusion localization system by integrating with Wiimote 2D localization system. Meanwhile, a self-assembled quadcopter has been developed for more possible intelligent application and utilized to interact with omni-robot based on Wiimote localization system in indoor 3D localization environment. Indoor 3D localization environment is constructed by controllable IR LED array for capturing the position of robots and human-machine interface with LabVIEW for monitoring the measured results. The testing results of floor panel obtained from a series of single touch tests have confirmed the improvement of localization performance of the panel. Besides, the preliminary results of the interaction between quadcopter and onmi-robot indicate the position of robots can be continuously detected in 3D localization environment. This dual-type mobile robot application based on integrated localization system is expected to have a tremendous potential on indoor intelligent living applications.

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