Description of example4

This is a very cluttered environment example i.e. an environment with a lot of obstacles. It appears that in cluttered environments the performance (generally) of RRTweight is not only superior to RRT Planner but also much superior to RRTGoalBias.This seems to be because in a cluttered environment RRTWeight is able to make a decision very early as to which nodes are not good candiadtes for extension(as lot of nodes cannot be extended because of the large number of obstacles)
The average time the various planners took is given below
RRT-->60.82     RRTGoalBias--> 7.93     RRTWeight-->4.26>
The paths computed by the planners are shown below:
path by RRT
path by RRTGoalBias
path by RRTWeight