HMOD-1 Update 2
Some further work done...
Changed geared motors of the Makeblock platform (from 6 V, gear ratio 1:75 to 12 V, gear ratio 1:184):
CNC machined nylon deck:
Platform with nylon deck, Arduino Mega, motor controller and Li-Po battery:
Machined aluminium deck:
Ultrasonic ranger (HC-SR04) array:
Obstacle avoidance will be done via so called bubble rebound algorithm (see attached PDF).