近年來智慧型機器人的發展已經成為機器人學領域中最受矚目的一個方向。智慧型機器人能夠於人類生活的環境中自由的移動，並且協助人類完成許多事情。因此，機器人的導航與在雜亂環境中的避障，就成為一個十分重要的課題。
　　本篇論文中，建構了一台具有立體視覺的全方向輪式機器人。該機器人裝備了全方向輪式底盤，使其於平面上擁有同時平移以及自轉的能力。因此，可以達成在充滿障礙物的環境中，朝任意方向平移，同時不改變自身方位的擬人化避障行為。障礙物偵測方面，提出了一個利用Planar homography原理分離障礙物影像，並將障礙物影像投影至地板的障礙物偵測方法。避障與導航策略方面，首先討論了著名的VFH法則運用於本研究所建構的機器人時發生的問題，並針對這些問題，發展了一個基於VFH法則的導航策略。所設計的導航策略能夠使機器人擁有擬人化的避障運動模式。
　　最後，透過實驗結果，證實了機器人的效能以及所提出導航策略之可行性。

　The development of the intelligent robots has become the most important direction in robotics. Intelligent robots can move freely in the living environment of humans and help humans to fulfill many tasks. Consequently, the navigation and obstacle avoidance in an object-laden environment become an important issue.
　An omni-directional wheeled robot with stereo vision is constructed in this thesis. The mobile robot equipped with an omni-directional wheeled base can move simultaneously and independently in translation and rotation. Therefore, the robot can be controlled to achieve a human-like obstacle avoidance behavior, translating along any direction in an object-laden environment while holding the orientation of the robot. An obstacle extraction method based on planar homography is proposed for the obstacle detection, where obstacle images are perspectively projected on the floor. As to the obstacle avoidance method and the navigation strategy, the problems caused by applying the VFH method to the developed mobile robot are discussed first. A novel navigation strategy based on VFH is then proposed to resolve these problems. Using the proposed navigation strategy, the omni-directional mobile robot can exhibit a human-like obstacle avoidance behavior.
　Finally, the effectiveness of the developed mobile robot and the practicability of the navigation strategy were verified through the experiments.

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