本研究主要設計並製作全自動的智慧型自走車，利用現成便宜的元件，能夠自主的完成平行泊車任務實驗。在平行泊車過程中，自走車亦可透過無線傳輸接受基地台的之指令，並能隨時將行車狀態數據傳回基地台。此自走車系統分為四大次系統，分別為動力及驅動次系統包含變壓器、馬達與傳動元件負責提供自走車的電力與動力。環境感測次系統包含紅外線感測及接收器，負責感測邊界距離。無線傳輸次系統包含無線通訊晶片及天線，可將行車資訊與命令訊號傳送至監控電腦或自走車。微控制器數據處理次系統包含微晶片計算器，功能為接收輸入訊號，進行處理與決策，輸出驅動訊號。本研究應用模糊控制設計一個以模糊邏輯為基礎的控制器，進行硬體實驗前先經由Matlab模擬測試，而硬體實驗結果顯示自走車可在多種不同的初始狀況，完成平行泊車任務。

　The objective of this research is to design and implement innovatively an automatic intelligent robot-car with off-the-shelf inexpensive elements which can innovatively accomplish the mission of parallel parking without interruption. The auto-car also has the capability of wireless communication with the monitoring computer during the experiment in real time. The robot-car integrates four major subsystems. Power and driving subsystem, containing electric power unit, motors, and transmission unit, provides necessary voltages to the robot-car for its operation and maneuver according to the given command. Environmental detection subsystem, including infrared emitting and sensing units, detects the boundary around the robot-car. Wireless communication subsystem, consisting of coding and decoding chips, radio wave generating and receiving chips, and antennas, is allowed to send data and accept commands to and from a monitoring personal computer in the experiment. Micro-controller subsystem made up of a cluster of multi micro-processors unit is the head of the robot-car that incorporates the aforesaid subsystems and directs the robot-car to perform parallel parking. Before the hardware testing, the controller designed with rule base fuzzy logic control law is simulated using Matlab. Results of hardware experiment indicate that satisfactory parallel parking can be achieved with several different initial conditions.

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