目前世界各國產業用與服務用機器人的開發技術漸趨成熟並成功應用於許多領域，未來機器人產品與社會大眾的關係必將日趨密切，服務用之智慧型機器人的產製亦為未來發展重點。近年來，服務型機器人被廣泛地運用在娛樂、生活援助、家庭、災害救援與醫療輔助等領域，本文研究對象以運用在居家方面之服務型機器人為主，發展一套控制系統來精準控制機器人在地形複雜之室內環境中移動，有效提升機器人之工作效率，並且針對機器人在應用上的需求來設計專屬之使用者介面，以改善機器人運用上的實用度。而為提升室內機器人於室內環境運作的可靠度，必須依賴高精度之室內定位技術，首先，本文將發展高精度之Wiimote 2D室內定位系統，即時提供機器人位置以及偏轉方向；接著整合全向移動載具(Omni-directional vehicle)發展軌跡追蹤控制器，可以有效控制載具精準移動；最後則針對Wiimote 2D定位系統以及全向移動載具系統發展物件式互動介面，以提升使用者與機器人之間的互動效果，改善機器人在操作時的便利性。由實驗結果可知，Wiimote 2D定位系統其定位精度在公分等級，且透過該定位系統之高定位精度特性，配合軌跡追蹤控制器將能使得載具非常精確的執行我們所希望的移位動作，而本文針對整體控制系統所設計之互動介面，則可以有效提升使用者在操作機器人時的可控性與可觀性。

In recent years, service mobile robots have been widely used in the field of entertainment, intelligent life, and home-patient care. For these applications, an intelligent mobile robot actually serves as the role of servants. As a result, in addition to the task-dependent functionalities in autoficial intelligence, a successful indoor localization and control of mobile robots, as well as an effective man-machine interface would be critical since they define the basic maneuverability of the carrier. In order to achieve the above-mentioned goals, the interaction between human and mobile robots must be strengthened by enhancing the accuracy of indoor localization, the dynamic performance of mobile robots, and the user-friendliness of the controlling interface between users and mobile carriers. To fulfill these requirements, in this thesis, an accurate wiimote indoor localization scheme is proposed for obtaining reliable global position information. This scheme can provide both accurate translation and rotation information for subsequent robot indoor motion control. Furthermore, the dynamics of omniwheels are analyzed and properly modelled, followed by PID controller design and parametric studies. The experimental results indicate that by integrating with the wiimote localization scheme, the mobile robot can be effectively controlled with tracking error within one centimeter. Finally, a graphic-based user interface is designed and implemented under a NI LabView environment. This interface creates an indoor map and users can plan the motion trajectory control via common input devices such as mouses. Essential case studies have been successfully performed to demonstrate the applicability for controlling and monitoring the position information of indoor mobile robots via such an interface. In the future, it is possible to further incorporate with task planning in computer sciences or artificial intelligence to realize the indoor mobile robot applications in various aspects of intelligent life, smart building technology, and home-patient care.

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