diff --git a/README.md b/README.md
index cf6412f7..2261889c 100644
--- a/README.md
+++ b/README.md
@@ -54,7 +54,6 @@ Path planning for a car robot with RRT\* and ducings path planner.
 
 ## Dubins path planning
 
-
 A sample code for Dubins path planning.
 
 [Dubins path - Wikipedia](https://en.wikipedia.org/wiki/Dubins_path)
@@ -63,6 +62,15 @@ A sample code for Dubins path planning.
 ![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/scripts/PathPlanning/DubinsPath/figures/figure_13.png)
 ![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/scripts/PathPlanning/DubinsPath/figures/figure_15.png)
 
+## Reeds Shepp planning
+
+A sample code with Reeds Shepp path planning.
+
+![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/scripts/PathPlanning/ReedsSheppPath/figure_1-4.png?raw=true)
+![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/scripts/PathPlanning/ReedsSheppPath/figure_1-5.png?raw=true)
+![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/scripts/PathPlanning/ReedsSheppPath/figure_1-7.png?raw=true)
+
+
 # License 
 
 MIT
diff --git a/scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py b/scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py
index ad2b2646..1e5ab8f2 100644
--- a/scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py
+++ b/scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py
@@ -22,7 +22,7 @@ class RRT():
     """
 
     def __init__(self, start, goal, obstacleList, randArea,
-                 goalSampleRate=10, maxIter=1000):
+                 goalSampleRate=10, maxIter=2000):
         u"""
         Setting Parameter
 
@@ -290,7 +290,7 @@ if __name__ == '__main__':
 
     # Set Initial parameters
     start = [0.0, 0.0, math.radians(0.0)]
-    goal = [5.0, 10.0, math.radians(0.0)]
+    goal = [5.5, 10.0, math.radians(0.0)]
 
     rrt = RRT(start, goal, randArea=[-2.0, 15.0], obstacleList=obstacleList)
     path = rrt.Planning(animation=False)