Very nice, I don’t think I’ve actually ever seen a side-to-side sonar bot with omniwheels. The angled sonar is a good idea too, it gives you the widest range of detection with the least overlap. Great work on a great robot!
UCSD has robots simular to this except they are very small. It runs through a maze and it remembers the path and calculates a shorter path to run through. I will find a link to it. It is very interesting to watch in person.