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Hi. Unfortunately, this question is far to vauge for us to really help with. We can help with specific questions like "Why is this method not working?" or, "How do I do specific thing "X" with OpenCV?"
Read the FAQ to get a better idea of what we can help with.
To get a better idea of what you are doing, why don't you search the internet for previous obstacle avoidance schemes and begin trying those out. By reading the papers on them, you will get a better idea for what you need to do to achieve it. Once you've tried it and something doesn't work, then you can come to us and we can help.
