Thanks for the link, DuaneB.
Here is an outline of how I will make the car avoid obstacles while maintaining its heading towards its next GPS point.
- I will mount an ultrasonic sensor and a compass on a servo in front of the car that sweeps 180 degrees back and forth (http://www.parallax.com/Portals/0/Downloads/docs/prod/robo/570-28015-PingBracket-v2.0.pdf).
- Every couple of degrees, it will record the compass heading and the distance.
- After completing the sweep, it will and choose the heading with a distance greater than two feet and a heading closest to that required to get to the GPS point.
- I will use a PID loop on the steering servo and a compass mounted on the car (that isn't sweeping back and forth) to ensure that the car is turning towards the chosen heading.
Is there a better way to do this? (I considered going the camera route, but this seemed like an easier place to start)