Took Bitzero out today on the UC Davis campus during the early morning hours for a long distance autonomous test drive. It was a success. A total of 1.1 miles driven.
The most valuable observation was around waypoint resolution. The further away a GPS waypoint was, the more likely it would brush against the sidewalk on the way. I believe this is happening because the calculated heading angle is much smaller at longer distance, and the less correction the vehicle thinks it needs. The solution is a higher density of GPS points. It will be particularly important on water when other forces come in to play, like wind and current. This is why we test.