AME 547
HW #5
(Due Thursday November 4th, 2021)
Consider the workspace shown in the following figure. Obstacles are shown in red color and the </br>robot is shown in black color. Robot will be approximated by lines. Obstacles will be
approximated by circles.

Implement RRT algorithm based on Single Tree Search Described in Section 5.5.3 in Chapter 5
of LaValle’s book (http://planning.cs.uiuc.edu/ch5.pdf) to find a path from the initial pose to the
goal pose without intersecting with the obstacles.
Test data will be released on Wednesday, November 3rd by 6PM. This will include initial
pose (values of 
1
; 
2
; 
3
), goal pose (values of 
1
; 
2
; 
3
), and size and location for each
obstacle. The maximum number of obstacles will be four.

Please submit a zip file that includes the following:
1. Graphical representation of the computed path
2. Code to compute the path


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