Hi Gadget,
You can not upgrade firmware or upload program for ranger with bluetooth conneciton.
The bluetooth connection can be used for online debug while you must have the ranger connected via the USB cable if you wish to upload programs or upgrade firmware to run unattended on the ranger. And when connected with USB serial cable, the board still can be powered even you unplug the power plug.
Since you mentioned that the ranger still function abnormal after upgrade firmware with USB serial connection, I strongly suggest that you change the battery and the rechargeable Li-ion or nickel-metal hydride or nickel-cadmium should be best. Since the Ranger is a robot which need high power during its operation so that it easily consume the power in the battery. And changing the battery for ranger do have solved several similar issue feedback from customers.