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Raspberry Pi + Arduino = RaspiDuinoRover
This is next version of robot. The robot is controlled iPhone. The robot is consist of iPhone which communicates with Raspberry Pi through HTTP and TCP. The camera is connected Raspberry Pi. The communication between Raspberry Pi and Arduino Uno + arduino motor shield is I2C protocol.
The commands are send through TCP and the video is streamed through HTTP. You can find video and complete code.

http://goddess-gate.com/projects/en/raspi/raspiduinorover