Arduino robot

I made an Robot.

It drives around, it has obstacle avoidance.

Robot for obstacle avoidance with 2 motors and 2 sonar sensors.

Code, just ask here. It's free.

Watch the movie
https://www.youtube.com/watch?v=9UjHomDA0iI

Description
The robot drives forward. When detecting an obstacle on the right, it drives backward in a right curve for approx. 0.25 seconds and then continues forward. Thus it turns left and can avoid the obstacle.

Also, the robot doesn't start at once when you plug in the batteries and turn on the switch. Instead it waits until you wave a hand before the sensor in front. See movie.

Problems, errors and solutions
When it drives directly into a corner, it can get caught though: it drives right and left and right endlessly.

To avoid this, when this happens 3 times, it rotates on the spot by approx. 170 degrees and then leaves the corner.

So the robot is monitoring its movements and when they are in a left / right / left pattern, the robot reacts differently.

See movie.

Further goals and to do's
see http://forum.processing.org/two/discussion/7592#Item_1

Parts
Arduino Uno: http://arduino.cc/en/Main/ArduinoBoardUno

Arduino Motor Shield: http://arduino.cc/en/Main/ArduinoMotorShieldR3

Sharp GP2Y0D810Z0F Digital Distance Sensor with Pololu Carrier: http://www.adafruit.com/products/1927

chassis and motors: http://www.conrad.de/ce/de/product/191152/Arexx-Fahrgestell-Robby-RP5RP6-Roboter?ref=list

some cables, batteries and 1 switch