In this case, only the final locations of the robots are
concerned.
Fig. 1. shows the trees developed by RRT to search for path solutions
for the car -like robots to rearch their final locations. The two robots
are in their goals.
From Fig.1.1., we can obviously see that the coordination between these
two robots are not optimal.
The sharezone tolerance distance is 4*( half length of the car-like
robots).
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| Fig.1. Case 1 path planning | Fig. 1.1. Case 1 animation |