Wavefront Algorithm

Hey everybody

I am a beginner for Arduino. I built a basic robot to avoid objects which is just moving forward and when it detect an object in the front it will check right and left and turn the robot to the longer distance using three ultrasonic sensors (SRF05)

1) In front 2) In front-right 3) In front-left |/

I would like to enhance my robot and make it more intelligent using wavefront algorithm. I would be grateful if anybody could help me step by step to create a robot using this algorithm and please show me clear code with comments so that I can understand it well.

Thanks :)

Www.societyofrobots.com/programming_wave front.shtml

or even http://www.societyofrobots.com/programming_wavefront.shtml

Damned Android cut-and-paste.

Thank you both for the link I am going to look at it :)