閃避障礙物對自主行動機器而言是基本且重要的技術之一，然而大多數的機器人都是藉助雷射或超音波感測器輔助偵測障礙物進行避障，其控制結構較複雜且成本較高。本文的研究目的在發展一套結構簡單且僅以立體視覺系統為主的影像處理方案，使機器人能夠在工作環境中安全閃避靜止及動態的障礙物。亦即，由二部攝影機構成的立體視覺系統偵測工作環境中的靜止障礙物，藉由精確的立體視覺演算法，估算出障礙物的大小與相對位置後，機器人可以規畫出一條自現在位置抵達目的地的安全路徑。此外，當機器人在工作環境中巡覽時，若發現移動障礙物，可以重新規畫行進路徑，閃避動態障礙物，抵達目的地。

Obstacle avoidance is one of the fundamental and most important technologies for an autonomous mobile robot. However, most robots have the ability to detect and avoid obstacles are relied on help of laser or ultrasonic sensors, where the control structure is more complex and the cost is more expensive. The purpose of this paper is to develop an image processing scheme with a simple structure that only requires a stereo vision system for mobile robots to safely avoid static and dynamic obstacles in working environment. In other words, the stereo vision system consists of two cameras for detecting the static obstacles in working environment, and then it can precisely evaluate the size and relative position of obstacles by stereo vision algorithm. Finally, a safe
path to the goal from the current position of the mobile robot is determined. Furthermore, as the mobile robot navigates the working environment, it can continuously rebuild the forward path of discovered moving obstacles. Using this path, the robot will avoid the dynamic obstacle to the goal.