Pseudocode:

defaultVelocity
slowVelocity

rangeClose
rangeTooClose

1. Check for dangers/obstacles:
 * Some unknown condition that means I am stuck on something
    DO STUCK-EMERGENCY BEHAVIOR
 * otherwise Something is rangeTooClose to me in front
    DO EMERGENCY BEHAVIOR
 * otherwise Something is within rangeClose of me
    DO DECISION BEHAVIOR
 * otherwise There is an Interesting Thing
    DO INTERESTED BEHAVIOR
 * otherwise
    DO NORMAL BEHAVIOR

STUCK-EMERGENCY BEHAVIOR
   Do whatever is necessary to get safely unstuck. I don't know what that would be.

EMERGENCY BEHAVIOR
   Stop 
   Play "emergency sound" or flash warning
   Choose direction left or right
   Set degrees to 0
   While something is rangeTooClose to me in back 
        Turn 10 degrees direction and increment degrees
        If thing is closer and not ReversedDirection, 
              reverse direction
              set ReversedDirection
              set degrees to -degrees
        If I have turned 360 degrees, stop and panic
   While nothing is rangeTooClose to me in back AND something is rangeTooClose to me in front
        Go back at slowVelocity

NORMAL BEHAVIOR
   While nothing is within rangeClose of me in front
   AND DETECT INTERESTING THINGS returns false
        Go forward at defaultVelocity
   If I went forward 
   If I have been in normal behavior mode for less than some period (i.e. I am following a wall poorly)
        SWITCH TO ORGANIC PATHFINDING BEHAVIOR INSTEAD OF STANDARD DECISION BEHAVIOR
   else 
        SWITCH TO STANDARD DECISION BEHAVIOR

DETECT INTERESTING THINGS (placeholder for more "intelligent" wandering or other stuff
   Look for interesting things - these might be openings in the wall, some target, etc.

INTERESTED BEHAVIOR (placeholder for more "intelligent" wandering or other stuff)
   Turn until facing the interesting thing
   While not blocked and not at the interesting thing
       Go forward at defaultVelocity
   Do some unknown behavior based on what the thing is

DECISION BEHAVIOR
   Choose direction left or right
   While something is within rangeClose of me in front
        Turn 90 degrees direction
        If I have turned 360 degrees,
              DO ORGANIC PATHFINDING BEHAVIOR

ORGANIC PATHFINDING BEHAVIOR (for use if the right-angle decision behavior yields poor results, this will hopefully re-orient the robot so it is not walking diagonally into a wall)
    Choose direction left or right
    Set degrees to 0
    While something is within rangeClose of me in front
         Turn 10 degrees direction and increment degrees
         If thing is closer and not ReversedDirection, 
              reverse direction
              set ReversedDirection
              set degrees to -degrees
         If I have turned 360 degrees, stop and panic