本研究將以差速驅動機器人的動態模型為基礎，設計與實現運動控制器與行為式控制器，提供機器人在已知環境中的建立地圖與自我定位之用。研究的內容包括四個部份，分別是差速驅動機器人動態運動控制、機器人行為式控制、建立機器人運動模組、以及系統整合與功能測試等。發展的行為式運動控制將應用在具備全方位視覺的差速驅動機器人系統上。 Based on the dynamic model of differential-drive mobile robot, the motion controller and behavior-based controller are designed and implemented in this research, and further provided for the robot self-localization and mapping in a known environment. The research includes four parts, namely, the dynamic motion control of differential-drive mobile robot, the behavior-based control for the robot, the motion model of the mobile robot, system integration and experiments. The developed behavior-based motion controller will be applied to the differential-drive mobile robot with omnidirectional vision.
