Interactive playground

Planner vs Controller Explorer

Separate 'is there a valid plan' from 'can the controller follow it' by tuning goal tolerance, lookahead, corridor width, and footprint.

xy goal tolerance (m)0.25Lookahead distance (m)0.60Corridor width (m)0.90Footprint radius (m)0.28

Fault togglesGoal placed in an inflated cell

Outcomefailed

Reasongoal cell is lethal/inflated — planner returns no path