In this video you can see that the route planner (left side) plans a route staying well away from walls, corners and other obstacles. 

The regular pauses in the robots travel happen when it swaps out the particle filter map (right side) for next local map in the path.

Towards the end of the video you can see the particles (right side, red dots) of the particle filter spread out when the robot is travelling quickly (50cm/second) down the hall way. This is the maximum documented speed of the Roomba.

The map was built on the fly (SLAM) although I didn't include that in this video.

In the past few weeks I've identified a bug in the particle filter, where the re-sample was done before the update leading to continual jitter in the output of the particle filter.

I also spent some time improving the route planner, it now correctly calculates a cost with relation to passing near or nearer to obstacles, resulting in a path which does a good job of staying away from obstacles, walls and corners.

I still intend to add another layer on top of the route planner to take into account the latest Lidar scan and navigate around transient objects.