This video shows the evolution of the power chair Robot base into a completely autonomous base with built in Infrared sensors: One left, one right, and another in the center provide enough sensors to allow the Robot to Navigate the big deck at our place.
http://www.cwhaticando.com/view/?t=Autonomous%20Robot%20PVC%20%22Pickup%20Truck%22&itemParent=381
Check out the video, and if so inspired visit the link for a guide to the build.
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