car_nav_lite

cyy/car_nav_lite

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Commit Graph

Author	SHA1	Message	Date
cyy	85d6984bba	update	2026-07-03 06:14:36 +00:00
cyy	50ff61a16b	MPPI + fence-line loc + waypoint nav with fail skip	2026-07-03 00:17:08 +00:00
cyy	5156a8d766	MPPI planner + fence-line localization + scan obstacles - Lightweight MPPI (200 trajectories, 15 steps, endpoint path_align) - adaptive exploration (more random when stuck) - fence-line Hough detection + geometric correction - scan hit points marked at 255 immediately - forward half-step pre-check for obstacle avoidance - Ackermann constraint \|wz\| <= \|vx\|/min_turn_r - XORshift RNG (stdlib broken on ARM)	2026-07-02 21:29:41 +00:00

Author

SHA1

Message

Date

cyy

85d6984bba

update

2026-07-03 06:14:36 +00:00

cyy

50ff61a16b

MPPI + fence-line loc + waypoint nav with fail skip

2026-07-03 00:17:08 +00:00

cyy

5156a8d766

MPPI planner + fence-line localization + scan obstacles

- Lightweight MPPI (200 trajectories, 15 steps, endpoint path_align)
- adaptive exploration (more random when stuck)
- fence-line Hough detection + geometric correction
- scan hit points marked at 255 immediately
- forward half-step pre-check for obstacle avoidance
- Ackermann constraint |wz| <= |vx|/min_turn_r
- XORshift RNG (stdlib broken on ARM)

2026-07-02 21:29:41 +00:00

3 Commits