6.1 結論
本論文以階層模糊邏輯控制設計一移動機器人，將移動機器人動作分 成靜態避障行為、動態避障行為、沿牆壁行為、沿目標物行為、抓取行為 不但使機器人行為更加有條理且使機器人在動態環境中可以自主移動尋 找目標物。且在硬體整合底層系統、馬達驅動系統、距離感測系統、手臂 控制系統及電源系統，最後沿牆面自動導航實驗、抓取目標物實驗、靜態 避障實驗、動態避障實驗等實驗驗證了移動機器人整體的效能以及控制器 在機器人上可行的。
6.2 未來展望
在實驗過程中，未來可以增加更多比較實驗，例如：戶外、早上、晚 上或或更換別的控制器做比較，以比較控制器之優點；Sputnik 機器人影 像常常有雜訊產生，未來可加入全景攝影機或高畫數無線網路攝影機，增 強其影像辨識功能；機器人上輪子目前並無速度回授，所以無法知道機器 人之行走距離，未來可在輪子上可裝上編碼器，量測馬達實際轉速來確認 機器人位置以建立地圖增強其性能；負責供給三顆直流馬達之鉛蓄電池常 常電力不平均，導致移動機器人移動方向不正確，故未來可將三顆電池整 合成ㄧ顆或設計電路使三顆電池電力平均使移動機器人移動方向正確；目 前操控機器人皆必須依靠遠方的個人電腦，未來可在機器人上方加入電腦 和觸控面板增加即時控制功能：機器人上可在加入麥克風及聲音辨識功 能，增加機器人與人互動能力；實驗中機器手臂易撞到而產生偏移、損壞，
之後可加入一些保護、防撞裝置以防止手臂損壞；機器人重量過重，輪子
易造成滑牙及電池耗電嚴重，未來可減輕機器人機構重量，以增加機器人 續航力。
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