RRT\*
~~~~~

.. figure:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTstar/animation.gif

This is a path planning code with RRT\*

Black circles are obstacles, green line is a searched tree, red crosses are start and goal positions.

Simulation
^^^^^^^^^^

.. image:: rrt_star/rrt_star_1_0.png
   :width: 600px


Ref
^^^
-  `Sampling-based Algorithms for Optimal Motion Planning <https://arxiv.org/pdf/1105.1186.pdf>`__
-  `Incremental Sampling-based Algorithms for Optimal Motion Planning <https://arxiv.org/abs/1005.0416>`__