Receding-Horizon Path Planning

Validation

It was run inside an isolated container with no network access. This is the exact command and the real output it produced — captured process output, not written by a model.

$ python3 path_planner.py
[[2.0, 2.0], [2.0041953659215412, 2.0041953659215412], [2.0155799751966192, 2.0188188219323346], [2.034298111610864, 2.0462095762433465], [2.0605817881720103, 2.082921710612251], [2.092320236817118, 2.127540558725668], [2.1300495630725758, 2.1829725071998114], [2.17370505193961, 2.245336796292412], [2.2209374364180308, 2.312869402887655], [2.2727457094564576, 2.3891498244271796], [2.3287999918129954, 2.4699078853039738], [2.3865354356314272, 2.553063109105836], [2.447448691867008, 2.642920869670473], [2.5109862501716496, 2.734881781036728], [2.574399115917858, 2.8265944282627435], [2.6396835813350155, 2.9230946971467064], [2.7061102128560033, 3.0195234269694384], [2.7707828018751193, 3.113311979402312], [2.8361712774851613, 3.210190207812843], [2.9014205969068727, 3.309307978017294], [2.9667657455613936, 3.4109310163755966], [3.0372968537948966, 3.5192236259473595], [3.108405079792476, 3.6294356963672842], [3.177714614907441, 3.7391020616508306], [3.250851535006481, 3.853240317003173], [3.3230395148515774, 3.9668164092392106], [3.391761283612166, 4.077126547648202], [3.4631387435244414, 4.189987703842486], [3.5364784767306108, 4.304363994767503], [3.612159147006271, 4.4203752879891

A screenshot of that run.

A clean run proves this does what is shown above, in a CPU-only sandbox. It is a small research demo — not a production tool, and nothing here was published anywhere.