Once find the path, stop RRT*

2026-04-22 03:00:22 -04:00 · 2019-06-18 15:40:25 +08:00
parent f6ef266dc8
commit 54b6052e9a
1 changed files with 8 additions and 6 deletions
--- a/PathPlanning/RRTstar/rrt_star.py
+++ b/PathPlanning/RRTstar/rrt_star.py
@@ -63,12 +63,14 @@ class RRT():
            if animation and i % 5 == 0:
                self.DrawGraph(rnd)

-        # generate coruse
-        lastIndex = self.get_best_last_index()
-        if lastIndex is None:
-            return None
-        path = self.gen_final_course(lastIndex)
-        return path
+            # generate coruse
+            lastIndex = self.get_best_last_index()
+            if lastIndex is None:
+                continue
+            path = self.gen_final_course(lastIndex)
+            return path
+
+        return None

    def choose_parent(self, newNode, nearinds):
        if not nearinds: