There is more than one way to define what would make a goto algorithm "optimal", but the one I'm after is reaching a given destination in the shortest length of time possible. I know it's best to turn as much toward the destination as possible each tick until you're pointing straight at it, but it is the speed you should travel that confounds me. Given a distance and bearing to your desired point, what is the optimal speed to travel? I spent most of yesterday thinking about this and asking [Maxima] to solve ridiculous summations for me (which it sometimes refused). -- Simonton