隨著機械與資電科技日新月異的發展，電腦視覺已成為一項熱門之研究，凡舉監視、監督、定位、條碼判讀與各式自動化輔助系統，都開始利用影像處理來產生更好的工作效率，提升作業精準度。
本論文的研究目的在實現並設計一部利用影像伺服，來實現追蹤、避障功能的自走車。在車子行駛中，連續拍攝道路影像，透過影像處理技術來偵測路面，提供道路資訊給電腦，使用以視覺為基礎的視覺伺服控制，誤差訊號定義在影像平面上來完成目標的追蹤。將其控制法則的控制訊號直接送入運動控制器，然後經由驅動器驅動馬達，完成運動控制。實驗結果顯示，經過本文提出之方法處理後，可將經過環境影響(亮度、物體表面反射度等)所產生的雜訊降之最低，提供正確而精準的路面資訊。

The computer vision has become a popular research in nowadays society. Including the surveillance, supervision, orientation, or reading the bar code, and a lot of automation assist system are all using the computer vision system to raise the better working efficient.
The main work of this dissertation is to achieve and design a vehicle which using the visual servo system to accomplish the accessible path tracking and obstacle avoidance. When vehicle traveling, we catch the road image continuously and provide the road information to computer. Sending the error signal which defined in image plan to the controller and driving the motor with the driver.
The results show the noise will be reduced after process the image, and it provides usual information to achieve vehicle path tracking and obstacle avoidance.

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