Aiming　at　the　propose　of　preventing　various　barriers,　which　may　cause　collisions,　during　the　moving　process　of　a　two-wheeled　self-balanced　robot,　the　ultrasonic　ranging　theory　and　DSP　TMS320F28335　are　adopted　as　the　core　controller　by　taking　the　two-wheeled　self-balanced　robot　Hominid　3　as　the　platform.　An　obstacle　avoidance　control　system　for　the　two-wheeled　self-balanced　robot　based　on　ultrasonic　wave　sensors　is　presented　in　this　paper.　DSP　is　employed　to　store　and　process　the　environmental　information,　which　is　collected　by　ultrasonic　wave　sensors.　Particularly,　the　fuzzy　controltheory　was　introduced　based　on　the　control　algorithm　of　evaluation　system　to　design　the　fuzzy　controller.　Moreover,　MATLAB　is　used　to　carry　out　the　obstacle　avoidance　simulation　verification　for　the　two-wheeled　self-balanced　robot　based　on　the　fuzzy　control　algorithm.　Finally,　obstacle　avoidance　experiments　are　carried　out　for　the　Hominid　3　in　the　practical　environment.　The　results　in　simulation　and　experiments　proved　that　the　fuzzy　control　algorithm　is　feasible.