Q1: Inflation buffer width in cells
Calculation: ___ m ÷ ___ m/cell = ___ cells
Q2: Inflation zones marked on grid
Copy the grid below and replace free . cells with I where they fall within the inflation buffer of any wall or obstacle:
0 1 2 3 4 5 6 7 8 9 10 11 12 13
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+
0 | # | # | # | # | # | # | # | # | # | # | # | # | # | # |
1 | # | | | # | # | | | | | | | | | # |
2 | # | | | # | # | | | | | | | | | # |
3 | # | | | # | # | | | | | | | | | # |
4 | # | | | | | | | | | | | | | # |
5 | # | | | | | | | | | | | | | # |
6 | # | | | | | | | | | | | | | # |
7 | # | | | | | | | | | | | | | # |
8 | # | | | | | | | | | | | | | # |
9 | # | | | | | | | | | | # | # | | # |
10 | # | | | | | | | | | | # | # | | # |
11 | # | | | | | | | | | | # | # | | # |
12 | # | | | | | | | | | | | | | # |
13 | # | # | # | # | # | # | # | # | # | # | # | # | # | # |
Filled-in grid with I cells:
(copy the grid above and mark inflated cells)
Q3: Expected path — left corridor vs. right/center route
(your answer — which route passes through more high-cost inflated cells, and why does the planner prefer the other?)
Q4: Effect of increasing inflation_radius to 0.35 m
(your answer — how many cells wide is the buffer? Is the left corridor between Block A and the border wall blocked?)
Q5: Two situations where AMCL needs more particles
Q6: robot_radius mismatch — TurtleBot4 with TB3 config
(your answer — are the planned paths safe? what would you change?)
Q7: inflation_radius 0.55 m — can the robot fit through a 4-cell doorway?
(your answer — show the buffer calculation and whether the doorway is passable)
Q8: Tolerance 0.5 m — too large vs. too small for a patrol route
(your answer)