After many hours testing and fine tuning my robot, I believe that a few improvements could help.
I would have liked to have utilised the servo motor to control the IR sensor mounted on top of the robot, as it was it was only turned to the left to follow the left wall and turned right to follow the right wall.
I could have combined with a compass to allow the servo mounted IR sensor to allow the Robot to scan left and right during the turns and then make the turn using information from the compass and the range sensor to judge in which direction would bring the Robot closer to the finish.
I think that I could have made some improvements in the programming of the Picaxe, my program was very simple.
As it was a race, the Robot needs to go as fast as possible, so I could have used a higher voltage to run the motor, and with that a bigger heat sink to draw heat away from the motor controller IC.
I would have also liked to use caterpillar tracks, but they were very difficult to accurately redraw in CAD.
