This thesis purpose is implement a mobile robot control module. This module can let robot move to designate place and orientation from free space, and avoid obstacles on the path. Robot’s pose is by Dead-Reckoning (DR) and Gyro’s orientation perceive value estimate; Pose change is by potential energy method to control the robot platform’s move and obstacle avoidance. This module can be identified by making use of the ITRI U-BOT robot moving the platform. The verification result shows that module can correct finish pose’s change.