Thanks! I was excited to see it on its first trip around 
I would think that it is quite possible, but also more than likely out of scope of my current programming abilities - especially considered the smaller space that is available. 
I am sure there are gurus out there that could give me ideas off of how to work that logic out in an efficient way. Right now, in the three locations I scan after object detection, I do what feels like a fairly clumsy compare on values to determine which direction is best to go.
R2D on steroids - lol - 
I think that was my test bot I built with the arduino on a RC10 that I have... it didnt succeed going around things quite as well as running into them at 30mph! ;D