Answer:
16.4 units
Explanation:
Refer to the attached image, just find the hypotenuses of the three additional triangles, and add them up to become the perimeter of the yellow triangle.
Using Pythagoras Theorem:
Hypotenuse of the red triangle


Hypotenuse of the blue triangle


Hypotenuse of the green triangle


The perimeter of the yellow triangle


= 16.4 units