未來展望

本研究主要針對實驗中，自走車之行走產生的問題提出一些未來可去改變的 因素，也可添加一些設備去使自走車之實驗應用更加精準。

1. 超音波感測器：雖然感測器為控制領域中極為重要的一環，可比喻人類 靈魂之窗，為了改善超音波之二次反射帶來的問題，造成避障時帶來的誤判，

我們可添加濾波器，去針對超音波誤判範圍作濾波之功用，使其較為精準。

2. 編碼輪與惰輪：自走車之輪胎算是消耗品，雖然編碼輪內部為金屬製作，

不過外胎與惰輪為塑膠材質，長時間使用下容易磨損或是鬆動，這時，很容 易造成軌跡編碼時的不準確性。

3. 加入定位系統：本研究為自走車追蹤軌跡，雖然可透過電腦模擬去算出

欲走之路徑，在實驗地板貼上膠帶，可是每次車子的人為放置都會造成初始 值不同，而行走的軌跡數據也都不同，未來加入電子羅盤等定位系統後，方 可使自走車追蹤軌跡更為精確。

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