Here you can see my new bot:
some details: Ultrasonic mounted on a servo, front and back infrared sensors, at the bottom theres an optical mouse, on the front wheels there rotary encoders.
L298N Motordriverboard and bluetooth chip.
the brain of the bot will be the raspberry pi, he has to do all calculations, mapbuidling and so on.
the arduino at back will read the sensors and drive the motors. he will send messuremant data to the pi using usb cable and serial connection.
the bot shall drive autonomously also as driven via smartphone orientation sensor, which is connected via bluetooth using the amarino2 app.