codetiger
397eee1455
New navigation controller implementing frontier-based exploration for the VacuumTiger robot vacuum. Key features: Multi-threaded architecture: - Sensor thread (~100Hz): UDP sensor reading, odometry, safety checks - Mapping thread (~5-10Hz): VastuSLAM scan matching, grid updates - Exploration thread (~20Hz): Frontier detection, path planning Path planning: - Theta* any-angle pathfinding (smoother than A*) - SIMD-optimized cost map with obstacle inflation - Path smoother for differential-drive kinematics Frontier exploration: - Flood-fill clustering of frontier cells - Normalized scoring (distance, size, info gain) - Blacklisting and recovery for stuck situations Integration: - SangamIO TCP/UDP client for robot communication - VastuSLAM for SLAM and occupancy grid mapping - SVG visualization with trajectory and frontier markers
3 lines
32 B
TOML
3 lines
32 B
TOML
[toolchain]
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channel = "nightly"
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