本論文主要探討四輪獨立轉向與獨立驅動輪型(4WIS4WID)機器人之數學建模、控制以及實現。首先，我們呈現機器人的運動模型與動態模型，不同於差動或車型輪型機器人，4WIS4WID機器人受到四個用於旋轉與四個用於驅動的馬達帶動，因此他的控制架構要有能力整合此四個獨立運作的輪子。第二，本論文提出此機器人的軌跡追蹤控制，其中包括非線性的運動控制器以及滑動模式、模糊滑動模式與適應性模糊滑動模式動態控制器。所有控制器的穩定性皆由李亞普諾夫穩定性理論來驗證。為了實現此控制架構，我們設計了一個4WIS4WID輪型機器人。除了使用電腦模擬，也透過即時實驗來展現此控制架構的可行性與效能。此外，我們展示了一個針對4WIS4WID載具包含自動與手動的駕駛系統。自動駕駛的部分包含了三個功能，道路跟隨、倒車停車與路邊停車，此三功能皆是透過機器視覺與模糊控制理論來完成。四個網路攝影機被安裝在載具上面來偵測地面上的線並且透過相關的控制技術對所有的伺服馬達下命令。雖然載具安裝了四個攝影機去偵測周遭圍，但還是視線上的死角並且視野不夠廣。因此，為了確保此機器人可以實現正確的動作，有必要整合視覺上的判斷與模糊控制。手動駕駛系統的設計是基於傳統汽車駕駛系統來開發，因此駕駛人能夠輕易地適應此手動駕駛系統。為了驗證此駕駛系統對於4WIS4WID機器人的可行性，我們進行了一系列在室內的即時實驗。

This dissertation mainly investigates the model, control, and applications of four-wheel-independent steering and four-wheel-independent driving (4WIS4WID) wheeled mobile robot (WMR). First, we propose the kinematic and dynamic model of the 4WIS4WID WMR. Different from the differential or car-like WMR, the 4WIS4WID WMR is controlled by four steering and four driving motors, so the control scheme should possess the ability to integrate and manipulate the four independent wheels. Second, a trajectory tracking control scheme is developed for the 4WIS4WID WMR, where the nonlinear kinematic controller and the sliding-mode dynamic control, fuzzy sliding-mode dynamic control, and adaptive fuzzy sliding-mode dynamic control are designed. All the stabilities of the kinematic and dynamic control algorithms are verified using the Lyapunov stability theory method. In order to realize the control scheme, we design and implement a 4WIS4WID WMR. In addition to using computer simulations, the real-time experiments demonstrate the feasibility and effectiveness of the proposed controllers. Furthermore, we reveal a driving system consisting of an autonomous and manual system for a 4WIS4WID vehicle. The autonomous driving system consists of three applications, lane following, reverse parking, and parallel parking, and is based on machine vision and fuzzy control theory to achieve. Four webcams are mounted on the vehicle to detect lines on the ground and by using related control technologies to command all the server motors. The webcams are installed on all sides of the 4WIS4WID vehicle for all around viewing, but the vehicle still has many blind spots and the view is not wide enough. Therefore, integrating judgements of vision with fuzzy control methods is necessary to make sure the 4WIS4WID vehicle can perform the correct motions. The manual driving system is designed based on the traditional car driving system so that people can easily adapt to it. In order to verify the feasibility of the driving system for the 4WIS4WID vehicle, a serious of indoor real-time experiments is conducted.

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