Path Planning

There are two major types of planning that need to happen. One is the simple obstacle navigation present in the  obstacle course and the other is the more advanced planning in the  navigation challenge. The two challenges differ primarily in how long-term planning must be.

Obstacle Course

For the obstacle course, possible routes are quite limited by the presence of lines. Key issues:

• Detection of switchbacks

Navigation Challenge

Long-term planning is necessary to navigate to the various GPS waypoints, while obstacles still need to be avoided as in the obstacle course.

• Shortest path between waypoints