本論文主要設計與製作一部自主且全方位移動的跟隨機器人系統。整體硬體架構以筆記型電腦（Notebook）為主控核心，搭配微控制器BS2p和PIC，整合影像處理、距離感測與馬達控制等技術，最後將跟隨控制策略建構在主控核心上，實現以模糊控制為基礎的跟隨機器人系統。控制流程上，首先藉由配置於主人身上的紅外線光源裝置與架設於機器人上的視訊攝影機，透過影像辨識技術判斷主人方位；另外利用紅外線距離感測器量測主人與機器人之間的距離。根據主人的方向與距離等即時資訊，設計出包含前進與後退模糊控制器、轉向修正模糊控制器、編碼器補償機制、避開障礙物機制與主人消失搜尋機制，完成整體跟隨機器人控制系統。再者主控核心會計算即時的控制輸入，並以PIC實現的PWM訊號來控制載具馬達的轉動，使得機器人能達成所有的控制要求。最後設計五個符合實際情況的實驗，驗證本論文所提出的跟隨控制策略能成功地實現於實際機器人系統。 This work presents the design and implementation of an omni-movement following robot. The control system is implemented in a notebook, along with microprocessors BS2p and PIC16F84A. Integrating with techniques of image processing, infrared sensor, and motor control, the following robot system is established completely. With the infrared LEDs (tied on the master) and a camera (installed in the robot), the robot can detect the relative direction of the master. Moreover, the infrared sensor is adopted to estimate the distance between the master and the robot. The whole control system, including the fuzzy forward and backward control, fuzzy orientation control, encoder compensator, obstacle avoidance strategy, and master-disappear search strategy, is accomplished according to the real-time information. The control input is calculated by the control center, then PWM signals can be implemented by the microprocessor PIC to manipulate the motors. Therefore the following robot system can meets all control demands. At the last, five practical experiments are given to demonstrate that the proposed control approach can be successfully implemented in a real following robot.
