I will have to upload a video of the 'bot maneuvering as a very expensive remote control tracked vehicle but here is a picture that it took of me after a romp around the lounge. The special effect is due to my telling it to start moving at which point it orients the sensor stalk forward. This image just happened to be taken at that second. It is pretty much where I want it to be at this stage of the project.
There are still a few small bugs, or areas for reconsideration, in the controlled operation but not serious enough to keep me from starting the next phase of the project...getting it to do something on it's own!