[Dillon Compton]

This is likely something along the lines of what M Krass meant by heading information, and keep in mind that I've not implemented this type of system before, but...

If you consider a set of waypoints a1, a2, a3, ..., aN.

Consider encoding in each waypoint information about the 2nd waypoint out (e.g. any waypoint aN has information about waypoints aN+1 and aN+2).

Currently it sounds as if your waypoint system only has information (location) about the next waypoint (aN+1).

What I would attempt is encoding in each waypoint not only the next waypoint's location, but also the angle the wheels/robot need to be facing when arriving at that waypoint. Possibly even encode waypoint aN+2's location in waypoint aN. This will allow you to heavily penalize selection of potential paths that the autonomous program might develop that bring you into your next waypoint on the wrong heading. Identify common "problem paths" and incorporate path-error handling subroutines (a set of general cases for which a small set of bad-case solutions will suffice).

Alternatively, plotting optimal paths for every subpath of 3(or whatever size subpath you choose) waypoints in the correct overall field direction would allow you to do some simple error correcting as you suggested.



I know alot of the above is kind of vague, but as I said, I've not implemented this type of system for a FIRST robot before. However, I've done a bunch of graph theory/programming, and really this is just a graph traversal problem with constraints of a physical system and game rules thrown in.

I might be more useful if I knew how you were implementing the current system, but hopefully you'll find some useful nugget in my post.

Feel free to PM or IM me with questions or if you want further input.


I think the biggest question is the method by which you are generating paths. Is it on the fly, does it plan and then execute a path, is the optimal path something you give it and then allow it to modify dynamically, etc...? A little more information on the methods you are using at the base of your waypoint navigation system would be very helpful.

//Dillon