Add GA-based path planner, simulation and assets - #79
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ShisatoYano merged 1 commit intoSep 12, 2026
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Introduce a Genetic Algorithm path planner and demo. Adds a new GeneticAlgorithmPathPlanner (src/components/plan/ga/genetic_algorithm_path_planner.py) implementing GA optimization over control points with Catmull-Rom spline smoothing, collision/bounds/curvature costs, population operators, GIF visualization and path export. Adds a simulation entry (src/simulations/path_planning/ga_path_planning/ga_path_planning.py), example map and assets (map.json, ga_search.gif, path.json), a unit test (test/test_ga_path_planning.py), and a README entry to list the GA sample. The planner seeds the population from a BFS corridor, includes a fallback to the seed path, and exposes GA parameters via GAConfig.
ShisatoYano
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Sep 12, 2026
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Introduce a Genetic Algorithm path planner and demo. Adds a new GeneticAlgorithmPathPlanner (src/components/plan/ga/genetic_algorithm_path_planner.py) implementing GA optimization over control points with Catmull-Rom spline smoothing, collision/bounds/curvature costs, population operators, GIF visualization and path export. Adds a simulation entry (src/simulations/path_planning/ga_path_planning/ga_path_planning.py), example map and assets (map.json, ga_search.gif, path.json), a unit test (test/test_ga_path_planning.py), and a README entry to list the GA sample. The planner seeds the population from a BFS corridor, includes a fallback to the seed path, and exposes GA parameters via GAConfig.