[zdwempe]

Sorry for the late response here.

What confuses me is component #1 of your solution. When estimating the current robot position, what method do I use for that? Do I use data from the accelerometer on the IMU? Some combination of that and acquiring a distance from vision tracking? I (at least somewhat) understand how to get from knowing my current position to getting back on track, but where I'm really lost is how I know my current position and thus how much I need to adjust my drive path in order to get back to the planned path.

Thanks,
Zach Wempe