I've got a lot of work to do, mostly programming. at the moment, B1-66ER moves forward until something is in front of him, and then turns clockwise until it's not there anymore, and continues forward.
My next step is to have him turn X amount, read the ultrasonic sensor, turn Y and take another reading. It will then compare the two, and move in the direction with the higher value (THe most distance).
This is quite the challenge for me, but I'll get there.
Here is a link to a short video of what he can do now http://www.youtube.com/watch?v=GwxM2dA4IlI