This thesis proposes and designs an autonomous transportation robot. It can provide elders and disabled people to cross the crosswalk safely with sensor information fusion for real time decision-making and control by fuzzy inference and the information of image, radar, and encoder etc. In this study, the vision system makes feedback of position offset, and declination angle through the fuzzy controller, the robot could modify the attitude error to cross the crosswalk completely. This thesis considers obstacles in the forward path. Using the vision feedback information to design the fuzzy controller, it can supply obstacle avoidance to make the transportation smoothly. Besides, we also address the robot guide at a crosswalk interface point. The detection of special purpose road for the blinds on the vision system can guide the robot to make a right turn or left turn to the next intersection. In cooperate with the intersection-agent system for collision avoidance, the robot could pass through the next crosswalk safely in order to finish the whole safely intersection system.

In daily life, there are a lot of inconveniences for the vision disabled people, even thought there are few equipments for them to use. However, there has no equipment to guide the vision disabled people on the pedestrian crossing, it will cause them being a dangerous situation while through the pedestrian crossing. To design an intelligent vehicle to help vision disabled people through the pedestrian crossing safely is an important topic. This thesis presents an autonomous transportation robot in intersections to provide older and vision disabled people to through the pedestrian crossing safely. This robot is based on a commercial wheelchair which equipped with cameras, inertial measurement unit, encoder, GPS module, hearts rate sensor, etc. In this study, by using the camera settled in the top of the robot to capture the picture, it could detect the region of pedestrian crossing and find the obstacles and pedestrian on the pedestrian crossing with image processing techniques. Then using the fuzzy controller to do the obstacle avoidance or people following. This robot can make the automatic parking after through the pedestrian crossing and transmit the position of the robot and the user¡¦s heart rate to the remote monitor system.