I'm a beginner at robotics, but I do have a background in programming and some artificial intelligence and I'm planning to build an autonomous robot with an onboard computer. I may be able to use a Rasberry Pi, but I'm leaning towards a more powerful PC running (perhaps) Ubuntu. What would be a pragmatic (hopefully quick and easy) way to interface the PC with the inputs and outputs? Inputs would be ultrasonic sensors and probably either an infra-red camera or (inexpensive) laser scanner. Outputs would just be various motors to control wheels and an arm etc.