After months of confusion, my DIY rover's path planning is no longer a disaster, lmao

I've been working on a custom robot platform and the A* algorithm kept generating these janky, inefficient routes that caused constant stalls. By integrating a simple cost map and tweaking the heuristic weights based on real-time sensor feedback, the bot now smoothly navigates around my workshop obstacles. It's a small step, but finally seeing it execute clean turns and avoid my toolboxes feels like a huge personal breakthrough in understanding autonomous systems.