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Since I'm waiting for a new controller and my old bot somehow did what I wanted I'm starting something new (well, kind off). In the end most of the things I tried had some things I didn't like. Especially not in a smaller place. So I started with a round base with the weels in the middle. It can turn on the spot like this. Round and few more rounds later I got to this. It's basically going to have the same setup as earlier, the MRS1, 3 pings for object detection and more. Maybe. A ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/roundabout-bob