Our robot's task was to move to five designated points in an arena filled with obstacles as fast as possible.  In addition, our robot tries to find and exterminate up to five brightly colored weeds.   

We accomplished path planning and obstacle avoidance with a combination of LIDAR sensors and the Astar pathfinding algorithm.  Astar was able to create a path around the obstacles (given a range of LIDAR data), while selective LIDAR readings fine-tuned the obstacle avoidance.  Ultra-sonic sensors attached to the back of the robot ensured that the robot didn't hit obstacles from behind.  

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Two servo motors on the front of the robot indicate the number of pink or blue weeds collected.  The robot also audits a sound when it has reached a waypoint, weed, and weed drop off point.  This was for aesthetics as well as debugging purposes.