機器人於未知環境中行走，必須使其能探勘且建立完整的環境資訊，因此建立地圖為基本功能之一，而夾角角度之判斷準確度對地圖的建構有很大的影響。
　　本文提出單一超音波的量測方式，利用超音波之反射特性，以及反射點的尋求法則，標示出量測數據資訊中平面反射點的位置後，計算組成凹角的兩平面間之夾角角度，並將此辨識方法應用於自走車，實現建立未知環境地圖的功能。
　　自走車以單晶片（PIC16F877）為主控中心，可控制自走車的移動模組，驅動超音波感測器並計數音波的飛行時間；主控端以BCB撰寫人機介面，由無線傳輸模組傳送控制指令及接收回傳資料，藉此控制自走車的行進動作，及同步更新主控端的地圖資訊。
　　結合自走車及主控端，使自走車於未知環境中，能夠利用單一超音波辨識夾角角度，實現沿牆走及建立未知環境地圖的功能，而其地圖的方位誤差小於6%。

　　Map-building is one of the basic applications of a robot. It helps that the robot can move around, explore the unknown environment, and then collect information about the environment. However, the result of map-building can be affected by the accuracy of corner recognition considerably.
　　In this study, measurements with a single ultrasonic sensor are presented. The reflection-point-search rule is proposed together with the reflection plan to determine the reflection-point from the measured data. The angle of a corner is then calculated. By using the corner recognition, the vehicle can establish the map of an unknown environment.
　　The vehicle was controlled by a PIC16F877 microchip. The chip can control the motion of the vehicle, drive the ultrasonic sensor, and count TOF of the sound wave. In addition, a Human-Machine interface system was constructed by BCB（Borland C++ Builder）. The system can send orders to control vehicle motion and receive data via wireless transmission module. Accordingly, the system can update the map information in the host computer synchronously.
　　By the combination of vehicle and host computers, the vehicle can move along the flat walls and establish the map with a single ultrasonic sensor in an unknown environment with an azimuth error less than 6%.

　[1]　http://www.mitsubishielectric.com.tw/fa/automatic_robot.htm
　[2]　http://photo.dayoo.com/gb/content/2005-03/28/content_1990199.htm
　[3]　http://www3.chinaport.gov.cn/info/view.do?id=11126873350001
　[4]　http://www.incx.nec.co.jp/robot/childcare/
　[5]　http://www.sony.net/SonyInfo/QRIO/top_nf.html
　[6]　http://jczs.sina.com.cn/2004-07-19/1907211263.html
　[7]　Y. Nakata, T Takamori and M. Hattori, "Localization and Approaching to the Human by Mobule Home Robot", 2000 IEEE International Workshop on Robot and Human Interactive Communication, Osaka, Japan, September 27-29 2000
　[8]　Z. Xu, J. Liu, Z. Xiang and H. Li, "Map Building for Indoor Environment with Laser Range Scanner", IEEE International Conference on Intelligent Transportation Systems, 3-6 September 2002, Singapore
　[9]　E. P. Lopes, Eliana P. Aude, J. T. C. Silveira, and H. Sederia, M. F. Martins, "Application of a blind person strategy for obstacle avoidance with the use of potential fields.", 2001 IEEE. International Conference on Robotics and Automation, Seoul, Korea, May 21-26,2001　　
[10]　L. Zhang, and B. K. Ghosh, "Geometric feature based 2 1/2D Map Building and Planning with Laser, Sonar, and Tactile Sensors.", 2000 IEEE/RSJ International Conferences on Intelligent Robots and Systems
　[11]　H. J. Jeon and B. Kook Kim, "A study on world map building for mobile robots with tri-aural ultrasonic sensor system", 1995 IEEE. International Conference on Robotics and Automation
　[12]　H. Iwata and S. Sugano, "A System Design for Tactile Recognition of Human-Robot Contact State", 2003 IEEE/RSJ International Conference on Intelligent Bobots and Systems, Las Vegas, Nevada. October 2003
　[13]　吳至仁, "即時障礙物偵測/定位及標誌辨識", 國立成功大學工程科學系碩士論文, 2002
　[14]　H. Choset, K. Nagatani, and N. A. Lazar, "The Arc-Transversal Median Algorithm: A Geometric Approach to Increasing Ultrasonic sensor Azimuth Accuracy.", IEEE Transactions on Robotics and Automation, Vol. 19, No. 3, June 2003
　[15]　陳文彬, "家用機器人環境探索系統研製", 交通大學電機與控制學程論文, 2002
　[16]　H. Akbarally, and L. Kleeman, "A sonar sensor for accurate 3D target localization and classification.", IEEE International Conference on Robotics and Automation, Nagoya, 1995, pp. 3003-3008
　[17]　A. Ohya, T. Ohno, and S. Yuta, "Obstacle detectability of ultrasonic ranging system and sonar map understanding", Intelligent Robot Laboratory, Institute of Information Sciences and Electronics. University of Tukuba, Tsukuba 305, Japan
　[18]　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, 2002
　[19]　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, 1998　
　[20]　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, 2002
　[21]　陳巧茵, "小型自走車以超音波避障之研究", 國立成功大學工程科學系碩士論文, 2002
　[22]　邱文正, "超音波位置感測系統應用於自走式機器人之研究", 國立成功大學工程科學系碩士論文, 1989
　[23]　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, 2003
　[24]　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, 2002
　[25]　B. Barchan, and R. Kuc, "Differentiating Sonar Reflections from Corners and Plans by Employing an Intelligent Sensor", IEEE Transaction on pattern analysis and machine intelligence, vol 12. no. 6. june 1990
　[26]　J. H. Lim and J. J. Leonard, "Mobile Robot Relocation from Echolocation Constraints", IEEE Transaction on pattern analysis and machine intelligence, vol 22, no 9, pp. 1035-1041, September 2000
　[27]　O. Bozma and R. Kuc, "Building a Sonar Map in a Specular Environment Using a Single Mobile Sensor", IEEE Transaction on pattern analysis and machine intelligence, vol 13, no 12, pp. 1260-1269, December 1991
　[28]　 http://robots.net/