make robot go very close to the obstacles - complete coverage path planning

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Hi all,

I am working on a complete coverage path planning algorithm and I want to make sure that the robot goes very close to the obstacles once I give a goal. What are the different parameters that can be changed for this, I know inflation_radius is one of them. Is there anything else which can be modified to make sure that the robot goes very close to the obstacles? Also, apart from changing parameters, what are other techniques to make sure robot is able to go very close to the obstacles while it is performing complete coverage?

Please let me know if you need more information from me. Any help will be appreciated.

Thanks in advance.
Naman Kumar