Add requirements.txt with pinned Python dependencies

[Rishik-Y]

Problem

There is no requirements.txt or pyproject.toml. Users have no way to know which Python packages are required to run this project. The codebase uses at minimum:

• pygame (simulation rendering)
• numpy (vector math, Kalman filter)
• scipy (used in MPC controller - scipy.optimize / linprog)

Requested Changes

1. Audit all imports across every .py file in both MAP/ and Simulation/ directories
2. Create a requirements.txt at the repo root with all third-party packages and minimum version constraints, e.g.:

   pygame>=2.5.0
   numpy>=1.24.0
   scipy>=1.11.0
   

3. Optionally add a pyproject.toml for modern packaging compatibility
4. Update README.md with pip install -r requirements.txt in the setup instructions