Power Sources 2, or, Why ATR5 is powered by two combustion engines

Small garden tractors, such as ATR5-b0, are not designed to support heavy electrical loads.  Their engines contain integrated alternators to power headlights and maintain the starter SLA, with an output around 40 watts.  This might be sufficient for logic electronics, but actuation and lighting add at least 50 to 100 average watts.  Even optimally efficient CFL or LED headlights will add 35 watts, and the physical actuators (especially steering) will add another 30 to 60W average.  [For instance...

A* Pathfinding

From Fabrice Rossi, a simple visualization of A* vs Dijkstra pathfinding over XML-defined maps. Pictured is a terrain area that ATR5 will be expected to traverse. Green (foliage), black (structures), and purple are impassable. Grey is leveled roadway, which is less costly to traverse than unleveled ground (white). Both paths begin at a point just north of the smaller structure (black block). Note that moving the goal a few meters southwest shifts the optimal path around the southernmost treerow....