本篇論文之目的為設計與實做一台居家環境清潔機器人。清潔機器人以一個數位訊號處理器(Digital Signal Processor, DSP)為控制核心，且包含馬達控制、機器人運動控制模式、凹地感測模組及障礙物偵測模組等。障礙物偵測模組，能提供機器人有效避障角度，此部份包含紅外線感測器作為非接觸性障礙物量測感測，以及本文所提出的全方位碰撞感測等兩部份。機器人利用RS232連接埠將相關數據傳輸到電腦，以紀錄機器人在沿牆行走過程中的移動軌跡，同時繪製環境地圖。本論文使用牛耕田路徑規劃，對無障礙的矩形環境作全域清潔；其中利用沿牆行走的運動方式，修正機器人在長距離行走所造成的累積誤差，完成牛耕田路徑規劃。實驗結果顯示，障礙物偵測模組可提供機器人良好的環境資訊，減少機器人閃避障礙物的次數，提高清潔效率，同時完成無障礙梯形環境下牛耕田全域清潔。

This thesis designs and implements a new system for a domestic clean robot. A digital signal processor (DSP) is used to control the cleaning robot. Which includes: motor control, robot control, cliff detection module, and obstacle detection module include. Infrared sensors are used to detect obstacles without contact. In addition, an omni-directional collision detection module is proposed. This module can examine obstacle angles to provide an avoiding angle of the cleaning robot. The cleaning-robot can record the moving track in client computer through RS232, at the same time can build environmental map when the robot moves along the walls. During cleaning the boustrophedon path is planned for environments without obstacles. Experimental results show that the obstacle detection module offers good environmental information to the cleaning robot so that it can avoid obstacles efficiently and build the corresponding environmental map simultaneously for square and trapezium surroundings.

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