Here is our robot, well it last years robot but we are testing it. We Mounted two ultrasonic sensor (one in front and a other on the side). We use them to tell us when to turn. Were planning on using it for making laps in Hybrid Mode. Here is a preview of it -
Here is On Board Camera -
http://www.youtube.com/watch?v=wFhIpJYAV04
http://www.youtube.com/watch?v=qCTQEcg7pqo
Here is the best one-
http://www.youtube.com/watch?v=Xlb4IM_etDc
Hope you enjoy the videos and hope it give you some Ideas, Thank You!