R2D2 was exploring a tunnel when a cave-in suddenly occurred. Oh no, is he trapped?
From an overhead view, we can see all the obstacles (debris) on a two-dimensional Cartesian plane. The tunnel is w cm wide, bounded by the lines y = w/2 and y = -w/2. R2D2 starts at (0, 0), and has a perfectly circular footprint of radius r. The exit of the tunnel lies to the right of the line x = 1000. Between R2D2 and the exit lie a number of polygonal obstacles.
Is it possible for R2D2 to navigate between the obstacles and make it to the exit?