目前自主式移動機器人種類與功能越來越多樣化，本文主要強調自製履帶式機器人的功能與實用性。我們所提出的履帶式機器人能夠在未知環境或是崎嶇不平的路面上自主地於樓梯和斜坡移動。目前大部份智慧型機器人在未知環境中尋找目標物或辨識物體需靠CCD去辨識，然而在顏色複雜環境下會導致辨識效果大幅度降底，本論文藉由Kinect感測器讀取目標物的深度資訊進行不同類型的路面辨識。此外，針對一般具樓梯通道大樓，為了要有效完成大樓的巡邏，本論文設計四種動作模式以解決機器人上下樓梯的問題，模式包含了探索模式、對準模式、計算傾斜角度模式與攀爬模式。為了履帶式機器人在探索模式中能更平滑朝著樓梯前進，本文使用模糊控制器於探索模式中，藉由專家知識來定義左履帶與右履帶轉速之輸出，達到較平滑路徑之行走。最後，利用在未知環境中搜尋樓梯並完成上下樓梯的實驗來驗證本篇論文所提出智慧型機器人之行為模式與方法的有效性。

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