大多數的身障者或是行動不便的病患需要無障礙空間的設置以便利他們於環境中活動，但設置功能完善且符合各種需求的無障礙空間之成本相當高，以致目前之無障礙空間多為政府之公部門或大型醫療院所才有經費設置，一般私人單位或居家多無力負擔設置無障礙空間之龐大費用。
本文研究具自主性之情境感知機器人的設計，利用市售家用自動清掃機器人在居家環境中之優良移動性且加以改裝，使其能在複雜的居家環境中移動並提供載送身障者或行動不便病患所需的物品之服務，因此，本機器人系統可服務的範圍亦可視為另一種無障礙空間。此機器人組成包含市售掃地機器人、機器人控制器、ZigBee無線傳輸模組及提供服務之情境代理人系統。市售掃地機器人優良的環境移動能力及具備多種先進的感測元件，本研究使用情境代理人架構及方法改良機器人系統之設計方式，以自製之控制器負責機器人之機電控制器並加入情境感知代理人系統負責機器人定位及路徑規劃功能，使得機器人系統成為一種服務，最後測試機器人執行定位導航及承載物品的能力來驗證本設計的可行性及功能性，使其能協助身障者或行動不便之病患取放物品，使家用清掃機器人能提供除掃地功能之外之其它服務。

Autonomous mobile robot including mechanical, electrical, electronic engineering, computer, cognitive and social sciences and other fields of knowledge. In this research, we proposed a context awareness agent system to assist disable people to perform complex behavior, for example: pick and place objects and transfer message.
Applying Context-aware technology to combine with the design of assistive tool could expand the functionality easily. Assistive tools can be two-way communication with other systems and users to exchange information. Robot will go into the human life gradually, and assist human in a variety situation to enhance the quality of human life. The robot of the research can move to the target that the user assigned. It will automatically avoid obstacles regarding to the result of the path evaluation while moving to the target position.

[1] A. Meliones, D. Economou, I. Grammatikakis, A. Kameas, C. Goumopoulos “A Context Aware Connected Home Platform for Pervasive Applications”, Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops, 2008.
[2] Bill Schilit, and Marvin Theimer (1994). Disseminating active map information to mobile hosts. IEEE Network, Vol. 8, No. 5, p. 22-32.
[3] Bill Schilit, Norman Adams and Roy Want (1994). Context-Aware Computing Applications. IEEE Workshop on Mobile Computing Systems and Applications. Santa Cruz, CA, US, IEEE Computer Society Press.
[4] Guanling Chen and David Kotz (2000). A survey of Context-aware mobile computing research. Dartmouth Computer Science Technical Report TR2000-381.
[5] A. Meliones, D. Economou, I. Grammatikakis, A. Kameas, C. Goumopoulos “A Context Aware Connected Home Platform for Pervasive Applications”, Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops, 2008.
[6] John Holland, “Designing Autonomous Mobile Robots”, Newnes, 2004.
[7] Shuzhi Sam Ge, Frank L. Lewis, “Autonomous Mobile Robots”, CRC Taylor & Francis Group, 2006.
[8] Danny Raz, Arto Tapani Juhola, Joan Serrat-Fernandez, Alex Galis, “Fest and Efficient Context-Aware Service”, John Wiley & Sons, 2006.
[9] SUZANNE ROBITAILLE, “The Illustrated Guide to Assistive Technology And Devices”, Demos Medical Publishing, 2010.
[10] Martin Carrier, Alfred Nordmann, “Science In The Context Of Application”, Springer Publishing 2011.
[11] Chieh-Chih Wang, Charles Thorpe, Sebastian Thrun, Martial Hebert and Hugh Durrant-Whyte. Simultaneous Localization, Mapping and Moving Object Tracking. The International Journal of Robotics Research, Vol. 26, No.9, September 2007, pp. 889-916.
[12] Minoru Asada, “Map Building for a Mobile Robot from Sensory Data” IEEE 76 Transactions on System, Man, and Cybernetics, Vol. 37, No. 6, November/December 1990.
[13] M. Kamel and A. Syed, “An Object-oriented Multiple Agent Planning System” Distributed Artificial Intelligence Volume Ⅱ, Morgan Kaufmann Publishers, 1989.
[14] R.A. Brooks, “Solving the Find-Path Problem by Good Representation of Free Space” IEEE Trans. on SMC 13(3), 190-197, 1983.
[15] G. Yasuda，Modular distributed control architecture for cooperative soccer-playing robot agents，Journal of Robotics and Mechatronics，vol.12，no. 1, pp. 29-34, Feb.2000.
[16] Chage S., Chen L., Chung Y., and Chen S. (2004). Automatic license plate recognition, IEEE Transactions on Intelligent Transportation Systems, 5, 42-53.
[17] J. Latombe. Robot Motion Planning. Kluwer Academic Publishers, 1991.
[18] T . Yata , L . Kleeman and S . Yuta , ”Wall Following Using Angle Information Measured by a Single Ultrasonic Transducer” ,IEEE International Conference on Robotics & Automation , pp .1590-1596 , 1998.
[19] 陳意翔，具智慧型停車功能車型機器人之設計與研製，國立成功大學電機系碩士論文，民國91 年.
[20] 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，民國86 年.