Obstacle Avoiding Vehicle

After waiting a long time to be able to make one obstacle avoiding robot myself, with as little expenses as possible, after all to make one successful project it should be cost-effective, but again not too professional, i.e easy to develop and deploy, I finallly build this obstacle avoiding vehicle project with Arduino.

https://www.youtube.com/watch?v=e9kJUxe3Ykw

 // My First Obstacle Avoiding Bot With IR Led-Photodiode Sensor
//Created somewhere around 2011
#include "LiquidCrystal.h" 
//This library contains the functions for the LCD Module Interface

//Now let's define the IR based Digital Obstacle Sensors
int aFS = A0; int aLS = A1; int aRS = A2; 
//Analog IR Sensor and Photodiode Modules Connection
int FSv = 0, LSv = 0, RSv = 0; 
//variables to store sensor value states.
//Set, if respective sensor detects an obstacle

LiquidCrystal lcd(2, 3, 4, 5, 6, 7); 
//Define the pins to which the LCD Module is connected

void setup()
{

  lcd.begin(16, 2);
  //Initialize the 16X2 LCD Module
  pinMode(8, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(12, OUTPUT);

}

void move_forward()
{
  digitalWrite(8, LOW);
  digitalWrite(9, HIGH);

  digitalWrite(12, LOW);
  digitalWrite(10, HIGH);

  lcd.setCursor(0, 0);
  lcd.print("No Obstruction  "); 
  //Print Moving Forward in The LCD
  lcd.setCursor(0, 1);
  lcd.print("  Moving Forward");
}

void move_reverse()

{
  digitalWrite(9, LOW);
  digitalWrite(8, HIGH);

  digitalWrite(10, LOW);
  digitalWrite(12, HIGH);

  lcd.setCursor(0, 0);
  lcd.print("Obstacle Detected");
  lcd.setCursor(0, 1);
  lcd.print("  Taking Reverse ");

}

void turn_left()
{
  digitalWrite(9, LOW);
  digitalWrite(8, LOW);

  digitalWrite(12, LOW);
  digitalWrite(10, HIGH);

  lcd.setCursor(0, 0);
  lcd.print("Avoiding Obstacle");
  lcd.setCursor(0, 1);
  lcd.print("  Turning Right  ");
}

void turn_right()
{
  digitalWrite(9, HIGH);
  digitalWrite(8, LOW);

  digitalWrite(12, LOW);
  digitalWrite(10, LOW);

  lcd.setCursor(0, 0);
  lcd.print("Avoiding Obstacle");
  lcd.setCursor(0, 1);
  lcd.print("  Turning Left ");
}

void loop() {

  int FS, LS, RS;
  FSv = analogRead(aFS);
  LSv = analogRead(aLS);
  RSv = analogRead(aRS);

  if (FSv < 950) //Set Condition of Front Sensor,
  //i.e Front sensor is HIGH when an obstacle is detected in Front of the Bot
    FS = HIGH;
  else
    FS = LOW;

  if (LSv < 950) //Set condition for Left Sensor
    LS = HIGH;
  else
    LS = LOW;

  if (RSv < 950) // Set Condition for Right Sensor
    RS = HIGH;
  else
    RS = LOW;

  //Move the bot according to the status of the sensors (Condition Check)

  if (FS == LOW)//If No obstcacles are detected in the front , move the bot forward.
  {
    move_forward();
  }
  else
  {

    if (RS == LOW && LS == HIGH) //If Front obstacle detected, and Right Side of the vehicle is free, i.e RS=LOW then move Right.
    {
      turn_right();
    }

    if (LS == LOW && RS == HIGH) //TURN LEFT, if left obstacle is not present and right obstacle is present
    {
      turn_left();
    }

    if (LS == LOW && RS == LOW) //TURN RHT
    {
      turn_right();
    }

    if (LS == HIGH && RS == HIGH) //move BACK a few distance and then move right
    {
      //Straight Back
      move_reverse();
      delay(2500);

      //Move Right
      turn_right();
      delay(2500);
    }

  }// Close of conditional movement , if front sensor detects an obstacle
}// Cloase of Infinite Loop