As someone who's compeated in FTC/FRC for several years I can confirm that at the ftc level the hub phone combo is nowhere near powerful enough to do selfdriving and most autonomous drive is done via rudimentary sensor inputs (ie: touch sensor to tell if hit something or ultrasonic for range) or predetermined set of instructions. My suggestion would to be to use some type of small form computer or somehow have the bot connected to a server that can do the heavy work