5.1 結論
根據以上實驗結果，分別針對全向平台運動控制、感測融合、RFID 定 位部分做出以下幾點結論：
1、全向平台運動控制方面
首先分析各軸特性，建立一組 PID 控制器適於全向平台之各軸，並藉 由導出四軸的平台運動模型，以 inverse kinematics 技術實現全向性平台之 運動控制器，提升了在直線與曲線路徑上的追跡能力，並探討加減速對於 改善打滑之影響，以200 cm 直線路徑為例，使用梯形或 S 形速規，可降低 步階速規約15~20%的誤差。
2、感測融合方面
由於 encoder 對於打滑情形並不易得知，compass 對於角度穩定性不 足，以至於回授資訊的可靠度降低，加入了感測融合概念，分析 encoder 與 compass 回授之優缺點，以此建立動態感測融合機制，在兼顧穩定性與 準確性之下，改善平台運動方位誤差50%。
3、RFID 定位方面
以平台分段式移動策略並結合 RFID 功率調變，建立全向平台之絕對 定位技術，改善定位平均誤差從11 cm 降到約 3 cm。
5.2 未來展望
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