To improve the navigation precision of the ground wheeled robot, implement the autonomous kinematics motion control, and overcome the yawing problem when only using an optical encoder, a small-sized, low cost and reusable independent angular rate sensor (gyroscope) module based on iMEMS technique is used. The kinematics model of the robot is explained, and the principle that a robot can move straight based on a gyroscope is proposed. The angular rate is sampled to get the yawing angle of the robot and then it is inputted into a digital PID controller with a dead zone. The incremental speeds of each of the two driving wheels are calculated to attenuate the deviation. Methods for the robot to turn a fixed angle or move along a polygon are also presented. Experiments show that these algorithms have effectively improved the performance the robot moves rather than using time-consuming algorithms or installing bulky and power cost computers.