diff --git a/PathPlanning/CRRRTStar/Figure_1.png b/PathPlanning/ClosedLoopRRTStar/Figure_1.png
similarity index 100%
rename from PathPlanning/CRRRTStar/Figure_1.png
rename to PathPlanning/ClosedLoopRRTStar/Figure_1.png
diff --git a/PathPlanning/CRRRTStar/Figure_3.png b/PathPlanning/ClosedLoopRRTStar/Figure_3.png
similarity index 100%
rename from PathPlanning/CRRRTStar/Figure_3.png
rename to PathPlanning/ClosedLoopRRTStar/Figure_3.png
diff --git a/PathPlanning/CRRRTStar/Figure_4.png b/PathPlanning/ClosedLoopRRTStar/Figure_4.png
similarity index 100%
rename from PathPlanning/CRRRTStar/Figure_4.png
rename to PathPlanning/ClosedLoopRRTStar/Figure_4.png
diff --git a/PathPlanning/CRRRTStar/Figure_5.png b/PathPlanning/ClosedLoopRRTStar/Figure_5.png
similarity index 100%
rename from PathPlanning/CRRRTStar/Figure_5.png
rename to PathPlanning/ClosedLoopRRTStar/Figure_5.png
diff --git a/PathPlanning/CRRRTStar/animation.gif b/PathPlanning/ClosedLoopRRTStar/animation.gif
similarity index 100%
rename from PathPlanning/CRRRTStar/animation.gif
rename to PathPlanning/ClosedLoopRRTStar/animation.gif
diff --git a/PathPlanning/CRRRTStar/cr_rrt_star_car.py b/PathPlanning/ClosedLoopRRTStar/cr_rrt_star_car.py
similarity index 100%
rename from PathPlanning/CRRRTStar/cr_rrt_star_car.py
rename to PathPlanning/ClosedLoopRRTStar/cr_rrt_star_car.py
diff --git a/PathPlanning/CRRRTStar/pure_pursuit.py b/PathPlanning/ClosedLoopRRTStar/pure_pursuit.py
similarity index 100%
rename from PathPlanning/CRRRTStar/pure_pursuit.py
rename to PathPlanning/ClosedLoopRRTStar/pure_pursuit.py
diff --git a/PathPlanning/CRRRTStar/reeds_shepp_path_planning.py b/PathPlanning/ClosedLoopRRTStar/reeds_shepp_path_planning.py
similarity index 100%
rename from PathPlanning/CRRRTStar/reeds_shepp_path_planning.py
rename to PathPlanning/ClosedLoopRRTStar/reeds_shepp_path_planning.py
diff --git a/PathPlanning/CRRRTStar/unicycle_model.py b/PathPlanning/ClosedLoopRRTStar/unicycle_model.py
similarity index 100%
rename from PathPlanning/CRRRTStar/unicycle_model.py
rename to PathPlanning/ClosedLoopRRTStar/unicycle_model.py
diff --git a/README.md b/README.md
index 2485c6e0..dd88041d 100644
--- a/README.md
+++ b/README.md
@@ -245,7 +245,7 @@ Path planning for a car robot with RRT\* and reeds sheep path planner.
 
 A vehicle model based path planning with closed loop RRT\*.
 
-![CLRRT](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/CLRRTStar/animation.gif)
+![CLRRT](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/ClosedLoopRRTStar/animation.gif)
 
 In this code, pure-pursuit algorithm is used for steering control,