rover circle radius 0.13 m; the gap between bed 2 and the crate is 0.20 m wide (needs 2 x radius = 0.26 m)
largest clearance (distance to the nearest obstacle cell centre) in the middle of the gap: 0.1 m
inflation 0 m: A* length 4.781 m, sample points where the rover's disc hits an obstacle: 37 of 191; after line-of-sight smoothing: length 4.555 m, collisions 47, waypoints 90 -> 3
inflation 0.1 m: A* length 4.881 m, sample points where the rover's disc hits an obstacle: 37 of 195; after line-of-sight smoothing: length 4.642 m, collisions 41, waypoints 92 -> 3
inflation 0.175 m: A* length 6.771 m, sample points where the rover's disc hits an obstacle: 0 of 270; after line-of-sight smoothing: length 6.548 m, collisions 0, waypoints 124 -> 5
inflation 0 m: reachable plants {'P1': True, 'P2': True, 'P3': True, 'P4': True}; free cells 20064
inflation 0.1 m: reachable plants {'P1': True, 'P2': True, 'P3': True, 'P4': True}; free cells 18830
inflation 0.175 m: reachable plants {'P1': True, 'P2': True, 'P3': True, 'P4': True}; free cells 16396
inflation 0.2 m: reachable plants {'P1': True, 'P2': True, 'P3': True, 'P4': True}; free cells 16380
inflation 0.3 m: reachable plants {'P1': True, 'P2': True, 'P3': True, 'P4': True}; free cells 13964
saved /home/user/Documents/DOCUMENTS_SERVER/SKILL_TRAINING/Internet of Things (IoT) and Robotics/sessions/011-unit11-planning/figures/fig02_inflation.png
