diff --git a/scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py b/scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py
index 52d4b87d..ad2b2646 100644
--- a/scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py
+++ b/scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py
@@ -142,7 +142,7 @@ class RRT():
         #  print("get_best_last_index")
 
         YAWTH = math.radians(3.0)
-        XYTH = 0.5
+        XYTH = 1.0
 
         goalinds = []
         for (i, node) in enumerate(self.nodeList):
diff --git a/scripts/PathPlanning/ReedsSheppPath/figure_1-4.png b/scripts/PathPlanning/ReedsSheppPath/figure_1-4.png
new file mode 100644
index 00000000..435169f5
Binary files /dev/null and b/scripts/PathPlanning/ReedsSheppPath/figure_1-4.png differ
diff --git a/scripts/PathPlanning/ReedsSheppPath/figure_1-5.png b/scripts/PathPlanning/ReedsSheppPath/figure_1-5.png
new file mode 100644
index 00000000..c3a11b41
Binary files /dev/null and b/scripts/PathPlanning/ReedsSheppPath/figure_1-5.png differ
diff --git a/scripts/PathPlanning/ReedsSheppPath/figure_1-7.png b/scripts/PathPlanning/ReedsSheppPath/figure_1-7.png
new file mode 100644
index 00000000..6b1cb250
Binary files /dev/null and b/scripts/PathPlanning/ReedsSheppPath/figure_1-7.png differ