diff --git a/python/IRremote_UltrasonicObstacleAvoidance.py b/python/IRremote_UltrasonicObstacleAvoidance.py
new file mode 100644
index 0000000..2d4ee5a
--- /dev/null
+++ b/python/IRremote_UltrasonicObstacleAvoidance.py
@@ -0,0 +1,125 @@
+import RPi.GPIO as GPIO
+import time
+from AlphaBot2 import AlphaBot2
+
+Ab = AlphaBot2()
+
+TRIG = 22
+ECHO = 27
+
+IR = 17
+PWM = 50
+n=0
+
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+
+# IR remote input
+GPIO.setup(IR,GPIO.IN)
+
+# Ultrasonic sensor
+GPIO.setup(TRIG,GPIO.OUT,initial=GPIO.LOW)
+GPIO.setup(ECHO,GPIO.IN)
+
+def Distance():
+	GPIO.output(TRIG,GPIO.HIGH)
+	time.sleep(0.000015)
+	GPIO.output(TRIG,GPIO.LOW)
+	while not GPIO.input(ECHO):
+		pass
+	t1 = time.time()
+	while GPIO.input(ECHO):
+		pass
+	t2 = time.time()
+	return (t2-t1)*34000/2
+    
+def getkey():
+	if GPIO.input(IR) == 0:
+		count = 0
+		while GPIO.input(IR) == 0 and count < 200:  #9ms
+			count += 1
+			time.sleep(0.00006)
+		if(count < 10):
+			return;
+		count = 0
+		while GPIO.input(IR) == 1 and count < 80:  #4.5ms
+			count += 1
+			time.sleep(0.00006)
+
+		idx = 0
+		cnt = 0
+		data = [0,0,0,0]
+		for i in range(0,32):
+			count = 0
+			while GPIO.input(IR) == 0 and count < 15:    #0.56ms
+				count += 1
+				time.sleep(0.00006)
+				
+			count = 0
+			while GPIO.input(IR) == 1 and count < 40:   #0: 0.56mx
+				count += 1                               #1: 1.69ms
+				time.sleep(0.00006)
+				
+			if count > 7:
+				data[idx] |= 1<<cnt
+			if cnt == 7:
+				cnt = 0
+				idx += 1
+			else:
+				cnt += 1
+#		print data
+		if data[0]+data[1] == 0xFF and data[2]+data[3] == 0xFF:  #check
+			return data[2]
+		else:
+			print("repeat")
+			return "repeat"
+
+			
+print('IRremote Test Start ...')
+Ab.stop()
+try:
+	while True:
+		key = getkey()
+		if(key != None):
+			n = 0	
+            dist = Distance()            
+
+			if key == 0x18:
+                if dist < 20)
+                    Ab.stop()
+                    print("obstabcle")
+                else
+                    Ab.forward()
+                    print("forward")
+			if key == 0x08:
+				Ab.left()
+				print("left")
+			if key == 0x1c:
+				Ab.stop()
+				print("stop")
+			if key == 0x5a:
+				Ab.right()
+				print("right")
+			if key == 0x52:
+				Ab.backward()		
+				print("backward")
+			if key == 0x15:
+				if(PWM + 10 < 101):
+					PWM = PWM + 10
+					Ab.setPWMA(PWM)
+					Ab.setPWMB(PWM)
+					print(PWM)
+			if key == 0x07:
+				if(PWM - 10 > -1):
+					PWM = PWM - 10
+					Ab.setPWMA(PWM)
+					Ab.setPWMB(PWM)
+					print(PWM)
+		else:
+			n += 1
+			if n > 20000:
+				n = 0
+				Ab.stop()	
+except KeyboardInterrupt:
+	GPIO.cleanup();
+