本文是研究輪型機器人在未知環境下，藉由傳送及接收雷射測距儀預測周遭環境可能出現之障礙物並透過主控台LabVIWE的介面經藍芽裝置來接收訊息；在雷射掃描介面上可以顯示出障礙物的資訊，而在控制介面上能顯現出車體行進時的方位和擷取出的角度與距離，並經由位置控制器控制車體到達指定的距離和角度，透過整合後使車 體在行進間能不斷接收周遭障礙物的資訊,並將障礙物資訊即時傳回感測介面上於指定的時間存取起來，而PBASIC能將行進間的速度和距離擷取出來，進而得知障礙物的形狀與行走的軌跡。
The paper presents obstacle avoidance of a wheeled robot in unknown environments. It uses a laser range finder to detect the obstacle of which the scanned data was transmitted via Bluetooth to the main computer. Next the controller uses the proposed algorithm to identify the obstacle and decide a trajectory command avoiding the obstacles. The position controller is for controlling the plant to reach a target position. Via integrating the received information, the robot can continue to move and receive information at the same time. Meanwhile, obstacle information detected by the sensor will return and be saved in the main computer. The speed and distance can be calculated by PBASIC. The shape of the obstacle and the trajectory of the robot can be obtained via the same program.
