此文依靠模糊控制理論對基于80CS51 單片機的自動避障機器人進行研究，單片機依靠對超聲回波所測得距離數據的處理通過PWM 電路控制電動機，可顯示前方障礙距車距離，三輪架構，其中兩輪各以直流電動機為驅動，借助其速度之差控制轉彎半徑，待靠近障礙物到臨界點即預設距離時轉彎,實現了自動躲避障礙功能。
關鍵詞：避障；80CS51；機器人
Abstract: Designed a mobile avoiding obstacle robot dependent on fuzzy control theory and based on Micro-controller 80CS51 and Ultrasonic. It can measure the distance between the robot and the obstacle with supersonic , then analyze the measuring data in order to control the direct current motor trough PWM electronic circuit , having the function of displaying the measuring distance . It belongs to the structure of 3 rounds, and the two of them is driven by 2 direct current motors. With this structure, its radius of the turn can be controlled by the
difference in the speed of the 2 rounds, while the distance approaches the default value, it turns.
Key words: avoiding obstacle; 80CS51; robot