| Summary: | 碩士 === 國立高雄海洋科技大學 === 電訊工程研究所 === 106 === This thesis proposes is to design a two-wheeled balancing robot control system, the system has ultrasonic obstacle avoidance function.User can issue commands and receive robot data through Bluetooth. Base on LOGO Mindstorms EV3, combine with EV3 gyro sensor, EV3 motors, ultrasonic sensor to establish the two-wheeled balancing robot. Used leJOS to write program such as balance, communication, control and avoidance. The system use a PID method to control the motors to achieve a balancing robot. After robot is well balanced, user may control robot moving using Bluetooth. Robot can avoid detected obstacle while moving, robot can transmit the distance between obstacle, motor output power and gyro angular velocity to user through bluetooth at the same time.
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