This was my final exam on the subject microprocessors.
It's called RAMA (Robo Autonomo com Mapeamento Adaptativo - in portuguese), in english would be something like ARAM.
RAMA travels through two pre-programmed points, dodging obstacles and calculating a route note every time an obstacle is found.
It uses a PIC 16F877A microcontroller.
I'll post more information another day.
check the output of your sensors, you may need to increase their output gain, you are using an optical sensor so you may also need to check its sensing range