Engineering domain: Robotics

## Task Description
You are given a 2D gridmap of a construction site, where each node is represented as a triplet (x, y, 0/1). This map follows the specifications below:
-The construction site spans an area that is 50 meters wide and 40 meters long.
-Each grid cell is 1 meter × 1 meter.
-The bottom-left corner of the site map corresponds to world coordinates (0, 0).
-The value 0 or 1 in (x, y, 0/1) represents: A value of 1 denotes an obstacle (construction material, equipment, barricade, etc.), while a 0 indicates traversable space.

The construction site contains the following obstacles:
-A vertical wall from (10,5) to (10,35)
-A horizontal wall from (10,20) to (40,20)
-A vertical wall from (30,0) to (30,15)
-A cluster of obstacles in the region from (20,25) to (25,30)
-Several random obstacles at: (15,10), (25,5), (35,25), (40,30), (45,15)

Your goal is to perform path planning for an autonomous construction robot navigating this site. You can choose any suitable algorithm to compute collision-free paths. We use an autonomous construction vehicle with a radius of 0.5 meters, which can navigate continuously on the site (not just on grid nodes). Based on the site map described above, use a path planning algorithm to compute a smooth, efficient (as short as possible), and collision-free path from the given start pose to the goal pose, while considering the vehicle's turning constraints.

Please follow these specifications:
1. Set the state space bounds to match the site limits: x from 0 to 49, y from 0 to 39, and orientation θ from 0 to 2π radians.
2. The construction vehicle has the following motion constraints:
	-The minimum turning radius is 4 meters due to its wheelbase and steering mechanism.
	-The vehicle moves at a constant forward speed of 1 meter per second for safety on the construction site.
3. The start pose is: (0, 0, π) (at the site entrance, facing left)
4. The goal pose is: (49, 39, π/2) (at the far corner delivery area, facing up)

## Required Results:
1. Path representation: Output the path as a list of tuples (x, y, θ) at regular intervals (e.g., every 1 meter along the path or at fixed time steps)
2. Total path length (in meters)
3. Minimum distance to obstacles (in meters)
4. Maximum curvature (to verify turning radius constraint)
5. Number of nodes/states explored