- Some online research turned up this path folowing video tutorial shows (at 7:00) a nice animation of a path following algorithm credited to Craig Reynolds
- With each GPS location, I simply:
- Calculated the Relative Bearing to the target waypoint
- If the relative bearing of the target was a little bit off to the right, it would steer a little bit to the left
- If the relative bearing of the target was a lot off to the right, it would steer harder to the left
- Then multiplied the bearing angle by the STEERING_GAIN (0.6)
- Applied this angle to the steering wheel.
- Calculated the Relative Bearing to the target waypoint
- This actually worked OK.