本論文提出一套階層式之切換策略，讓移動機器人能夠自動地偵測場景中的障礙物並追蹤特定目標物。首先，透過雙眼攝影機求得一連串含有深度資訊之影像，並利用「V-Disparity」來建立一個障礙物地圖。接著，利用目標物色彩資訊及「Self Windowing」之方法來進行目標物追蹤，同時也以階層式架構之切換策略來決定移動中的機器人必須進行障礙物迴避或是目標物追蹤。實驗結果顯示本論文所提出的方法效果良好，並具有可行性。

This thesis proposes a hierarchical switching strategy for a mobile robot to detect obstacles and to track a given target. In the proposed approach, the depth image obtained from a stereo camera is used to build an obstacle map based on V-Disparity. Color information and a Self Windowing technique are employed to track the target. A switching strategy based on a hierarchical architecture is employed to determine whether the mobile robot should perform obstacle avoidance or target tracking. To verify the effectiveness of the proposed approach, several experiments were conducted. The results indicate that the proposed approach is feasible.

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