I'm working on this exact problem except for an autonomous boat, so probably it's completely transferable, so this is nice timing. For now though I think I'm go

I'm working on this exact problem except for an autonomous boat, so probably it's completely transferable, so this is nice timing. For now though I think I'm going to use a much simpler autopilot system (that I've already coded): Accelerate towards target at maximum speed; if within a certain distance of target, slow to approach speed (10%); if within "arrived at target" distance, cut speed to 0 (station keeping). This seems to work "well enough" in my JavaScript simulator, but I really wonder how it will do on actual water.