本論文主要研究規劃輪型機器人一維及二維軌跡規劃路徑，探討軌跡規劃理論，如何將一維軌跡規劃延伸至二維軌跡路徑規劃，一維軌跡路徑規劃是給予時間以及目的地的距離，計算出該給予馬達多少速度，使Mobile Robot AmigoBOT能夠在時間內完成給予的軌跡。
從一維軌跡規劃延伸至二維軌跡規劃，依照逆向運動學理論，控制兩顆輪子的速度來行走軌跡路徑，希望此研究能夠應用在更多路徑規劃以最穩定又快速的方式來完成路徑規劃，讓Mobile Robot AmigoBOT執行平滑方程式和逆向運動學控制速度行走軌跡路徑，首先在MATLAB做路徑以及速度上的模擬，驗證方程式與控制速度，計算出來的路徑是走在軌跡上，再讓Robot AmigoBOT來執行測試在各種不同的路面上進行觀察及行走狀況，執行過程中Robot AmigoBOT會存取行走位置以及座標，使Robot AmigoBOT在行走中隨時記錄位置、速度與角度，避免Robot AmigoBOT行駛路徑偏移或是發生抖動時可以從儲存資料中判斷出可能是哪一個環節出現了問題，再根據執行後儲存路徑跟MATLAB模擬出來的軌跡作比對，確認此任務路徑是否與模擬所規劃的路徑是否符合。
In this thesis, planning wheeled robot trajectory planning a one-dimensional and two-dimensional path, trajectory planning to explore the theory of how to extend the one-dimensional to two-dimensional trajectory planning trajectory path planning, one-dimensional trajectory path planning is to give away the time and destination, The number given is calculated motor speed so Mobile Robot AmigoBOT be completed within the time given trajectory.
From one-dimensional to two-dimensional trajectory planning extended trajectory planning, in accordance with the theory of inverse kinematics, control of two-wheeled walking speed trajectory path, I hope this study can be applied in a more stable and path planning in the most rapid way to accomplish path planning allow smooth implementation of Mobile Robot AmigoBOT equations and inverse kinematic trajectory control speed walking path, first made in the MATLAB simulation path and speed, verification equations and control the speed, route calculation is to take out on the track, let Robot to perform When tested on various roads and the running condition observed, the implementation process will access the traveling position and the coordinates at any time so that the recording Robot walking position, speed and angle to avoid or offset occurs Robot driving route from jitter store data in which a judge may be part of a problem, according to the storage path after performing simulated trajectories with MATLAB for than to confirm whether this task path and path planning simulation meets.
