本論文的目的在於開發出具備自動導航功能的二輪式載具，本文提出了結合了T型路徑內差前饋和PI回饋的循跡控制演算法，並基於此演算法開發出二輪式載具用的運動控制器，搭配上行車電腦、雷射測距儀、伺服馬達和伺服馬達驅動器共同實現自走車自動導航的功能。目前研究已完成了系統之機構、硬體設備以及控制軟體，並在模擬和實際環境的測試中驗證了自走車路經追蹤的功能。;The purpose of this paper is to develop a two-wheeled vehicle with auto navigation function. In this paper, a tracking algorithm that combining with T-Curve path linearization feedforward control and PI feedback control was proposed. Based on this algorithm, a motion controller for two-wheeled vehicle was developed, cooperate with navigation computer, laser scanner, servo motor and servo motor driver to achieve auto navigation function. In this research, mechanical structure, hardware and control software of the system have been developed so far. The path tracking fuction of the two-wheeled vehicle has been tested and and approved in both simulation and real environment test.
