Hi, this is the start of my project do demonstrate the use of fuzzy algorithms for avoiding obstacle.
http://www.rmcybernetics.com/projects/DIY_Devices/diy-robot-arduino.htm
I have built the code using a system of "urges" which control the behaviour of the machine. Next I will be adding further processors that will interface with this for manipulating these urges so that it can show more complex behaviour.