Field Test 2 w/ Video

Date: March 16, 2008 (Sunday)
15:00 pm
I conducted new GPS navigation test over the weekend in one of a campus parking lot.
The point of this test was to evaluate newly added navigation algorithm in the program.
Also the field itself is much bigger and not many obstacles placed around.
I solved the heading confusion problem which occurs when the waypoint is placed on the north, by adding two lines of code.

if(Goal_HDG - Current_HDG > 180) D_HDG = Goal_HDG - 360 - Current_HDG;
else if(Goal_HDG - Current_HDG < -180) D_HDG = 360-Current_HDG + Goal_HDG;

The graph shows two different experiment with same waypoint data.
Only difference was the direction and position of the starting point.

At this time I can check the robot draws smoother trackings and does not fell into a heading confusion problem.
For next experiment, I would attach a SONAR in front and test the navigation with obstacle avoidance.