I suppose you could say we use something like this...
However, we use robot-centric relative coordinates in a script. The highest (supervisory) level of our autonomous nav system looks at these goals, and has the ability to blend them into a continuous velocity profile (while controlling acceleration and position as well).
Hey it won the GM design award... </boast>
-q
p.s. No, we don't use a gumstix. A 40MHz 8-bit microcontroller (robot controller) is plenty... as long as you know your binary/integer math tricks to steer clear of floating point...
