Case 2: Parallel parking problem

This case shows the modified RRT works fairly well. It actually saved quite a lot of time in finding the paths by filter out all the junk nodes. Robots are in their initial positions and the final positions with orientations of the robots are shown as light blue boxes.
The sharezone tolerance distance is 2*( half length of the car-like robots).
Fig.2. Case 2 path planning     Fig. 2.2 Case 2 animation

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