We have successfully added SONAR to our Rover and autonomous collision avoidance is working fairly well now.
However, we didn’t get there without some work.
The Curse of the Nearsighted Robot:
e-techgarage.com/Puck/2010/01/05/the-curse-of-the-nearsighted-robot/
(At the bottom are videos showing the working collision avoidance.)
He still needs tweaking, but we’re making good progress.
~P.