Inflation Layer

Different changes based on the value of inflation_layer.

The following are the pictures of the change according to the value of inflation_radius in the global costmap.

../../../_images/inflation_1.webp

Fig. 11 inflation_radius is 0.8

../../../_images/inflation_2.webp

Fig. 12 inflation_radius is 1.5

The following are thepictures of the change according to the value of inflation_radius in the local costmap.

../../../_images/inflation_3.webp

Fig. 13 inflation_radius is 0.8

../../../_images/inflation_4.webp

Fig. 14 inflation_radius is 0.32

Conclusion: As inflation_radius increases, it can be seen that the range of obstacles recognized by autonomous robots increases.