Its really cool!! It has come a long way, in a very positive way.

When its stuck, I see 2 distinct possibilities. the first time when the car was perpendiculer to the wall, my guess was it was too close, therefore the front sensor missed the echo. the second and third times, when it was trying to go forward into the wall, my guess is the angle was just right so as the reflection of the sonar bounced off the wall and kept going forward so the car thought it was all clear ahead.

One time towards the beginning it ran head on into the wall. it went straight back, I am not sure if it bounced or if the car said reverse.

Overall it seems like response time may be the issue. are you able to slow the car when the front is blocked and needs to turn? If so, maybe cut the speed to half when the front is blocked. then on the all clear go back to full ahead. I don't think the car is able to make the turn, check the front, check the side and continue forward.