i was thinkin about using one of those "laser" measuring tapes.. i had a parallax ultrasonic sensor, which is probably not much different (although mine is only good to about 10 feet). i was thinkin about maybe adding a small servo to it, and mount a distance sensor on top, then it could sweep and it would be able to tell what distance at what angle (by using what pulse is sent to the servo).

my motors and motor controller dont arrive here till tomorrow, thats why its all just 'ideas" right now... when they get here, it will be time to start designing the PCB and putting it all together...