面對工廠中建置有線網路困難或無線通訊延遲帶來的自動化產線效益不佳的問題，以及因人力缺乏和需求轉變而對物流、檢測和技術服務升級的迫切需求，工廠從現行的人工、自動化作業邁向「智慧工廠」成為必然趨勢。 本論文目標是建立更加有效率且靈活的AMR系統，透過導入5G企業專網以及資料分散式服務（DDS），使機台和機器人進行自主運作，同時實現平行溝通，確保資訊 能夠高效地在系統中流通。並採用ROS2和Navigation2的架構建立整體AMR之導航系統，完成AMR於智慧工廠中的路徑規劃以及避障功能，這將有助於加強AMR的協調能力，同時優化機台產線的運作。本研究不僅有助於克服通訊延遲和效能不佳的問題，還能滿足現代工廠對於即時性、效率性和智能化的迫切需求。希望透過這項研究，能提升AMR在智慧製造中的效能和應用價值，並推動製造業的進一步智能化。;Facing the challenges of difficult wired network installation and inadequate benefits from automated production lines due to wireless communication delays, as well as the urgent need for upgrades in logistics, inspection, and technical services due to labor shortages and changing demands, the transition from current manual and automated operations to "smart factories" has become an inevitable trend in the manufacturing industry. The objective of this paper is to establish a more efficient and flexible Autonomous Mobile Robot (AMR) system. This is achieved by incorporating 5G enterprise networks and Data Distribution Service (DDS) to enable autonomous operation of machinery and robots, facilitating parallel communication to ensure efficient information flow within the system. Leveraging the ROS2 and Navigation2 frameworks, the paper constructs a comprehensive navigation system for AMRs, accomplishing path planning and obstacle avoidance functions within smart factories. This initiative enhances AMR′s coordination capabilities and optimizes machine line operations. The study not only addresses communication delay and performance issues but also meets the pressing modern factory requirements for real-time capabilities, efficiency, and intelligence. Through this research, it is anticipated that AMR′s efficiency and application value within smart manufacturing will be elevated, further driving the intelligence evolution of the manufacturing sector.
