This is us testing last night with our kitbot. It would have been even better, except the gym has asymmetric lighting, so as soon as the robot got on the left (brighter) side of the target, it couldn't find the target again. We were going to do another attempt where the target zigzagged down the gym, but we got kicked out due to volleyball.
As the YouTube description states, we had someone in control of forward-back motion for safety, but the robot was fully in control of turning left/right. Also, we told the driver to just give it always-on full throttle unless the robot or the guy holding the target might collide.
http://www.youtube.com/watch?v=TiWyO3mFPUI