Arduino Uno and Pololu Zumo robot - removing obstacles

Video of Pololu Zumo robot clearing the combat ring. It uses IR sensors at the front to detect the edge of the ring, and one either side to detect objects in the ring. When it sees an object it turns towards it. If it turns too far the sensor on the other side turns it back.

Coding based on Pololu’s Border Detect routine, with a few mods to use the extra IP Sensors on the side.