This video shows a BoE-Bot roaming using code I wrote for obstacle avoidance using the PING))) Mounting Bracket Kit (#570-28015). The robot will roam until any sensor detects an object. At that point the robot will stop and execute a 180 degree scan to find the most open route to escape. It will then head in that direction until any sensor is tripped again.
There are simple and advanced versions of the code available in the archive attachment below.