What was done:

Better Steering:
The used Servo motors where not powerful enough,
A new steering concept with gearbox motor was made.

New Motor Controller was purchased:
Roboteq Robax1500

This is a 2 Channel Motor controller.
1. Channel in Speed Mode for Driving Motor
2. Channel in Positioning Mode for Steering Motor
Datasheet

Some Optical Changes:

New Ultrasonic Sensors where added:
SRF485 Ultra Sonic Range Finder

Lindy USB to Serial Converter
Driver

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