New To Robotics Looking For Direction

Hey everyone, my name is Steve. I am brand new to the robotics world and I have been working on a project with my brother and I was hoping someone could help us out with something. I purchased the Developer's kit a couple of weeks ago along with the 4 in-1 orientation sensor and have constructed a "box bot"(pictures). He has two continuous servos in the front with the provided wheels and drags his rear, and I have recently put one of the hd servos on top and constructed a small head containing the camera with the ultra sonic detection sensor under neath so it can sweep back and forth. I have gotten it to move with a continuous Movement Panel using the arrow keys and have gotten the bot to sense a near object reverse and turn. My question is how do I go about starting to combine the two and make the bot continuously move without keyboard commands and detect at the same time to somewhat autonomously roam about with out hitting into anything. I figured that would be a good way to start understanding how to autonomously program a robot in a future build. I have also recently purchased a 3d printer so I will be using that to help with future projects as well. Thanks for reading and for any help that is given and I will be sure to keep updating as I continue learning and building my robots!