Ojbect Detection/Avoidance in Lejos

[Zedd]

Hi guys, first time posting! A group of friends and I are currently working on a project involving the Lego NXT brick. Our robot is outfitted with a touch sensor at the front, an ultrasonic sensor above it and a color sensor on the bottom. Our final aim is to get the robot to roam around an 'arena', avoiding objects and mapping them to send back the information to us via bluetooth and an occupancy grid.

At the moment, we've sorted a method of movement and established the bluetooth connection (with a bit of luck our mapping system will also be right). At the moment however we're having a hard time figuring out how to make the robot go AROUND an object placed infront of it and continue on its originally set path. We plan to try and make it so that it detects the object, moves to the side of it then scans again in the direction it originally intended to go and see if there's any conflict there, continue then try again on the other side of the object etc

Any help would be much appreciated!

Thanks guys.

-Zedd.