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This Lego autonomous rover just drives around uselessly until the battery drops under a certain level. At that point it wil go look for the charging station. It does this by driving in one direction, using a digital compass. When it hits a wall, it'll turn 90 degrees right until it hits another wall. Then it tries to turn to the first direction again and eventually the rover will pass the charging station (as it is in the back of the room). When it does, it will receive an RC5 IR signal ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/autonomous-robot-that-returns-to-charging-station-when-battery-runs-low