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In this paper, Robot Two Wheels are developed further to improve performance or intelligence. A Robot Two Wheels is a robot that can move and balance itself on two wheels, maintain its position upright of the earth’s surface on a flat plane. The design includes the Arduino Mega 2560, accelerometer and gyroscope sensors, as well as proportional Integral Derivative (PID) control as the controlling method. Proportional Integral Derivative control is used to determine the magnitude of the DC Motor’s speed and rotary direction as the driver, based on the robotic body’s tilt angle to the surface of the flat plane. The angle of inclination is taken into consideration and the robot moves either in the forward or backward direction to balance itself. When operated, the self-balancing robot continuously rotates its motor in its efforts to balance at upright position. The self-balancing robot movement is not mapped to its range, where the robot will still move randomly to achieve balanced conditions. The concept of this paper is expand the ability of the robot to sense objects around it which is by adding an ultrasonic sensor as an object detector around it, including obstacles or walls around self balancing robots. Detection of obstructions by ultrasonic sensors will maintain the movement of the robot in the safe area to avoid the impact that can occur when the robot is trying to maintain balance.

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