I'm no expert, but perhaps reckoning from the cart‘s position is the wrong approach. When you run the thing by hand, most of what you are doing is keeping some

I'm no expert, but perhaps reckoning from the cart‘s position is the wrong approach. When you run the thing by hand, most of what you are doing is keeping some waypoint or other centered in the camera view. Perhaps it would be easier if that's what your automation did. People used to talk about how the brain had to solve differential equations to catch a baseball until they noticed that all a ball-catching player really does is move their body so as to keep the ball centered in their vision.