It isn't really a set made course, most likely going to be a local park (with trees) and another test using this algorithm specifically would be inside my high school hallways, which are about 10 feet from wall to wall. It won't be navigating through tiny obstacles, most likely large courses to get from point a to b, and there will most likely be a large gap between the two points. I'm thinking of using some rotary encoders on the wheels not to see how far the car has traveled, rather to see how fast it is going. I want to keep this as simple as I can, without spending too much. Have you ever heard of the AVC by sparkfun?