Centre county Pennsylvania, USA | Sounds like you are trying linear control algorithms of various types. You may already know the good and bad of linear control algorithms, they are described in this link to Wikipedia's page on the Proportional-Integral-Derivative (PID) controller algorithm:
http://en.wikipedia.org/wiki/PID_controller#General
You may need some degree of non-linear control in your steering algorithm. I have no experience designing nonlinear control algorithms, so that's just a guess.
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Development – Steering Algorithms
