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1. Mount 3 ceramic 0.1uF capacitors on the motor like this: one between the leads, one between one lead and the motor case and the last one between the other lead and the motor case.2. Twist the motor leads all the way to the PCB.3. Mount a ceramic 0.1uF across the Sonar power pins (VCC and GND).Usually this is enough.
Just insert a 1N4148 between your regulated power supply from Arduino board and the 5v power pin of the H bridge. The diode will allow the current to go only one way (from Arduino to H bridge) and not the other.
(P.S. I thought of the problem in my sleep... weird)