本論文在發展互動式導覽型機器人，目的是讓機器人可以在未知或已知的環境中，以自動或手動的方式執行導覽的任務，伺服端與機器人平台透過網際網路的通訊做為溝通的橋樑，使系統能由遠端監看及控制。在指定的工作區域中，使用雷射感測器觀測周遭環境並且建立地圖，在地圖中標示起始點、停留點及禁制區，避免機器人進入禁止區，防止不必要的事故或保護隱私。在導覽的過程中，雷射感測器及超音波感測器能掃描水平180°大範圍的即時避障，兩者同時存在是因為雷射感測器雖然有水平180°的掃描範圍，但是其垂直面僅有不到1°的空間，超音波感測器垂直面的範圍遠大於雷射感測器。陀螺儀及雷射感測器能夠不斷修正導覽型平台在來回移動中，因路面不平或是及時煞停產生輪胎跳動或滑動的誤差。當工作區域內有突發狀況，2.4GHz的無線攝影機回傳區域的即時影像，能協助工作人員事件的處理，轉換成手動模式，透過遊戲控制器或鍵盤的方向鍵控制機器人。
This thesis focuses on developing the intelligent robot. In order to operate the task of navigation within known or unknown area, manually or automatically, robot platform and server are using internet as a bridge to interact, so the system is able to monitor and operate the robot remotely. Within specific work area, laser sensor observes the environment and starts mapping. By marking starting point, pausing point, and restricted area, robot cannot enter the restricted area, so we are able to prevent accidents and protect privacy. During the process of navigation, laser senor and ultrasonic sensor scan a wild range for 180° horizontal with real-time obstacle avoidance. Both laser and ultrasonic sensors are simultaneously operating is because laser sensor is able to scan a wild horizontal range of 180°, but it can only scan within 1° vertically. Ultrasonic can scan wilder vertical range than the laser sensor. Moreover, Gyroscope and laser sensor keep modifying the deviations caused by the rough road or the wheel slippage of immediate stops. When unexpected incident happens, the 2.4GHz wireless camera can send back instant video to assist the operator with solving the situation by switching to manual mode controlled by gamepad or direction keys.
