Updated coverage planner: ( PR Optimise obstacle order #6 ) #380

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Job	Run time
build (linux/arm64)	42m 7s
build (linux/arm64)	1h 1m 44s
build (linux/amd64)	10m 14s
build (linux/amd64)	10m 14s
merge	0s
merge	35s
	2h 4m 54s