Current configuration:

Microcontroller: HC12B32
Sensors: 2 x sonar, 2 x GP2D02, 4 x bump switches, 2 x photoresistors, 2 x Hamamatsu P5587 encoders, pyroelectric sensor, microphone, and battery level monitor.
Power system: 12V 3.2Ah SLA Battery. Power supply board has two 1A 5V switchers for the uC and sensors.
Drive system: Two LMD18200's driving 200rpm 12V gearhead motors.
Language: SBASIC.
Control Structure: Opinion Based Behaviour (each behaviour has a different weighting that the arbitration function takes into account when selecting direction and speed).

Under this configuration it can successfully navigate a dynamic environment. It's highest level behaviour is to roam the house and find something living and follow it around. If it gets 'bored' of this behaviour, it will switch to a stealth mode where it hides in a dark place and waits until there is a loud sound or sudden movement - it then becomes highly active. It lasts 4-7 hours before it needs a recharge.

Figure 2: Side view of cb4.

Improvements near completion:

Bi-directional radio link to a PC using the Linx technologies SC modules. The sensor data from the robot is encoded using Reed-Solomon codes (gives good error correction), and a helper program under Linux implements more CPU intensive behaviours, as well as building a world model to complement the reactive behaviours. The helper program sends 'suggestions' back to the robot about direction and velocity that have a relatively high weighting in the arbitration function.
Converting the code on the robot to C.
Moving the electronics from the prototype body to a more robust and aesthetic body.

If you want more information on any of the above feel free to contact me at daniel@westco.co.nz

Pictures of robot subsystems:

Figure 3: Interface Board for Sensors

Figure 4: Microcontroller (HC12B32)

Figure 5: Power Subsystem