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

854 B

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