Navigation and Obstacle Avoidance

[SinG]

Hello all. As part of my course project, I have been tasked with the navigation and obstacle avoiding part of an automated floor cleaning robot. I stumbled upon the wavefront algorithm tutorial and it seemed highly useful as I already possess a Sharp IR sensor. However, my current microcontroller is that of a PIC16F877A and to begin with, I am unsure of how to adapt the wavefront algorithm to a PIC microcontroller.

Could someone kindly provide pointers on how to do so for a PIC? I am programming with Matlab but really quite a novice in all of this.

Any feedback is very much appreciated.