本論文基於機器人作業系統(Robot Operating System, ROS)開發室內導航機器人，機器人以樹莓派為運行機器人作業系統的核心，利用2D光學雷達(LiDAR)作為機器人的感測器，掃描並獲得周遭環境的平面資訊，以此進行同步定位與建圖(Simultaneous Localization and Mapping, SLAM)演算法並獲得即時位姿與建構平面地圖。接著透過在地圖上給予目標點資訊，機器人進行最佳路徑規劃。最後，樹莓派以ROSSerial與Arduino進行通訊，將規劃好的路徑轉換成速度與角速度數據輸出至Arduino後，Arduino以脈衝寬度調變(Pulse Width Modulation, PWM)訊號控制馬達轉速，進行機器人的移動控制，以此實現室內機器人的導航開發。

This thesis develops a indoor navigation robot based on Robot Operating System (ROS). The robot uses RaspberryPi to operate ROS, and applies 2D LiDAR as the sensor of the robot to scan and acquire the 2D information of surroundings, then uses the infromation above for conducting Simultaneous Localization and Mapping (SLAM) algorithm in order to obtain instant pose of the robot and build 2D map. After that, the robot applies optimal path planning by giving the information of specific point targets on the map. Finally, Raspberry Pi connects with Arduino by ROSSerial, transfers the planned path to velocity and angular velocity data then exports to Arduino, and Arduino controls the motor speed with Pulse Width Modulation (PWM) to operate the movement control of the robot by following the planned path, thus achieve the goal of indoor navigation robot development.

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