Arduino Code

I have built a robot for use around my property that is built from recycled Powerwheels units. It is equipped with a Sabertooth 2X25 motor controller, Uno R3, EB-5365 SD GPS shield, an HC-SR04 Distance Sensor, and a HMC 5883 L Triple Axis Compass. I have individually confirmed all components are functional. I ran the sample code from Dimension Engineering, 'Tank Style Sweep', Tiny GPS 'test with gps devise', example code from Love Electronics for the compass, an unidentified Distance example, and the Read/ Write code from the SD Arduino library. I have loaded a .kml file from Google Earth onto the SD card for a route on my property. I am needing someone to write the code for my project to successfully navigate the course as written on the SD card. I have plotted a course free of known obstructions. I would like for the Bot to stop if an object is detected in front of it, waiting until obstruction is removed before proceeding. No need at this time for avoidance or work around coding. I also have a Bluetooth Stackable Shield sandwiched between the Uno and GPS shield that is paired to my Android phone. I would be open to additional features if they would have little impact on bid and fit the Uno's specifications. I believe the Uno R3 has a max capacity of 32,256 bytes.