Description of example5

This is an environment which seems to be similar to example2. However,in this case the way out of the obstacles is much larger than in example2. So,once the tree has come out of the corridor formed by the obstacles ,RRT planner does not make too many bad selections regarding extension of the tree. Further, in this case the performance of RRTGoalBias and RRTWeight is comparable. The average time taken in this case is given below:
Average time
RRT-->112.6 RRTGoalBias--> 14.25 RRTWeight-->13.58
The paths computed by the planners are shown below:
path by RRT
path by RRTGoalBias
path by RRTWeight