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ShisatoYano
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Why were a lot of parts in README changed like this? Please pull the latest changes in README at main branch into your working branch and resolve them.
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Please resolve the conflict in README. |
A* seed path optimised with Elastic Bands (Quinlan & Khatib, 1993): bubble chain with contraction/repulsive forces, SDF-based obstacle distance, and overlap maintenance.
rho0: 20→5, kc: 0.05→0.3, kr: -0.1→-0.05, lambda: 0.7→0.6, step_size: 3→1, alpha clamped to 3.0. Path now stays 4+ cells from obstacles while shortening by ~5%.
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Summary
A* finds the initial seed path on the occupancy grid, then Elastic Bands optimises it using contraction/repulsive forces with SDF-based obstacle distances
Test plan
[x] pytest test/test_elastic_bands_path_planning.py passes
[x] elastic_bands_search.gif shows A* search, initial path, then EB optimisation with visible path pulling taut
[x] elastic_bands_navigate.gif shows car following the smoothed path to goal
[x] No regressions on existing planner tests (test_astar_path_planning.py, etc.)