25 Apr 2005 Nic   » (Master)

April 23rd, 2005

The waypoint following only works while driving at speeds under 3 MPH. The GPS position seems to lag behind a certain number of seconds, which makes sense assuming it's averaging many GPS positions every second - if it's moving forwards, of course the average of the locations will be somewhere behind it. The higher the speed goes the crazier it's driving gets, until at speeds above about 6 MPH it just seems random.

I obtained permission to use a new field and sent an email to DARPA about the site visit location change. At the field I used the GPS to mark a route, and then had the Expeditor drive it. I encountered the problem above, until the battery fell off the robot and ripped some wires. Heh.

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