/* ----------------- Navigator for bioloid car --------------------------------- */
var WHEEL_SLOW = 30;              // moving speed
var WHEEL_FAST = 80;              // turning speed
var NAV.side = 1;                 // way to turn

navigator:at (irC > 150)                      // at obstacle detection
{
  wheels = 0 | sleep (500ms);                  // wait a bit
  wheels = -40 | sleep (500ms);                // go back
  NAV.side = NAV.side * -1;                   // change way
  wheelL = NAV.side * WHEEL_FAST &            // turn
    wheelR = - NAV.side * WHEEL_FAST;
  waituntil (irC < 50) | wheels = WHEEL_SLOW; // wait for clear way
                                              // and go forward
};

wheels = WHEEL_SLOW;          // initial start
/* ----------------- Navigator for bioloid car --------------------------------- */

You must load bioloid_car.u before executing this script to have good result.

This script should make your robot turn either left or right upon obstacle detection until it finds a clear way. It then will go forward again until the next obstacle.