Blob Tracking AND Obstacle Avoidance (Usb Cam, Ultrasonic Sensors, AI) [closed]

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Hi,

I'm working on my project which is a small robo car. It is supposed to use a simple usb cam to detect an object and track it while also avoid obstacles by using ultrasonic sensors (HC SR04). In addition, there should be machine learning/AI included. I'm thinking about using OpenCV.

I already found packages for blob tracking, but how do i combine that with obstacle avoidance? Any of you already have experience?

I have a RaspberryPi, an Arduino, multiple us sensors, ir sensors and the logitech c200 cam avaible. I'm working with ROS kinetic.