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After some testing with Robot Bravo I realized that it would be helpful to have some other sensors to supplement the camera based vision. I built a new platform with two sonar and two IR sensors. Here is video of Charlie operating with only those four sensors. The camera is not used. Now I have a much better platform to dig deeper into vision processing for object detection, navigation, etc.
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/robot-charlie