由於科技不斷的進步，產業自動化逐漸成為趨勢，產業與學界也開始設計可以取代人力的機器人，如何規劃機器人的路徑，並模擬路徑作為實做的參考依據為研究與討論的題目。本篇論文採用自走車上的位置感測器記錄輪軸旋轉的資料，使自走車在未知環境中不會迷失且能往目標點移動。根據目前工業上軌跡規劃最常用的五次方軌跡方程式可以在運動與時間的座標平面上產生平滑曲線為基礎，結合自走車運動軌跡方程式在MATLAB上模擬一維空間走直線時產生在時間座標上平滑曲線實際運動情況，接著實做方面，藉由軟體程式LabVIEW平台透過藍芽傳回二輪自走車上的主控器PBASIC晶片上來控制馬達，驅使車子在一維平面上做出模擬所規劃軌跡。實驗結果驗證，五次運動軌跡規劃，能有效使車子在啟動時或是減速時更為平滑。
Due to the continuous progress of science and technology, industrial automation gradually become a trend. Industry and academia have begun to design robots to replace human, how to plan the path of the robot, and simulate real path as reference for the subject to do research and discussion. In this thesis, using self-propelled vehicle axle rotation position sensors for recording the information, so that self-propelled vehicle in an unknown environment to the target point is not lost and can move. Based on current industry trajectory planning Fifth-order trajectory equation can produce a smooth curve on the coordinate plane motion and time, combined with the self-propelled vehicle trajectory equations simulate a one-dimensional space on a MATLAB generate a straight line at a time when the coordinates the actual movement on a smooth curve, then do real terms, with the LabVIEW platform via Bluetooth software program returns the second round of self-propelled vehicle master PBASIC chip up control motors, drives a car on a one-dimensional plane made simulation plan trajectory. Experimental results show, five trajectory planning, can effectively make the car smoother when you start or when to slow down.
