This was our second project in our first year of Mechatronics engineering in Asian Institute of Technology. We had a team of two and I myself teamed up with Bipul Bhusal designed and worked on this project. The project is called a Pathfinder because it was supposed to finds it own path around. The main objective of this project was to create a four-wheeled base which could analyze the size of the obstacle and decide whether to avoid it or just move it out of the way. For the purpose of moving it out of the way a simple robotic hand with two degrees of freedom was mounted on it. This attempt to make a very simple automated system is not based on image processing of objects which would further require higher level machine vision knowledge. Rather we came up with an idea of using ultrasonic sensors to calculate the the breadth and height of and object which would give the robot to decide whether the object is in the range in which it can be picked up or it should be avoided and the robot should take a whole new path . The whole processing was done by using on board Arduino UNO.