This robot is a round differential drive robot with front and rear omni-wheel casters. It uses an Atmel Mega168, and three Hitec HS-311 servos of which two are modified for continuous rotation. As of now I am just experimenting with 4 sensors (more to come). They are 2 photoresistors, a Sharp IR range finder, and a Parallax Ping Ultrasonic range finder. It uses a BlueSMiRF-UART connection to transmit data back to the computer, as well as receiving commands.

Future goals:

Improve suspension on casters
Add a battery level monitor, and self charging capabilities
Increase from 8MHz to 16MHz w/ crystal
Add flash memory for larger programs and map processing.
Implement wireless re-programming
robot vision w/ Blackfin Camera on pan/tilt servos
2 3/4DOF arms
Pathfinding using Dynamic A* (D*)
Balance w/ gyros