[Craig Putnam]

Team 42 (P.A.R.T.S.) has done some off-season R&D in this area since last year's competition. Suffice it to say that, integrating accelerometer output twice to derive position data *without feedback* quickly results in a lot of accumulated error.

We have also experimented with using the output of an optical mouse along with the rate gyro. We have had some success in this area using the old BS2SX-based EDU-bot controller. We are continuing our work in this area and are very excited by the capabilities of the new PIC microprocesssor.

We have white paper that goes into a fair amount of detail regarding both methods for navigation control. Unfortunately, the paper is too large to upload here. Contact me directly if you would like a copy.