*

RRT Exercise
Start (0 , 0
2
⑧
7

-
-

y
2 3 4 5 6
· 5
V =
S Start , ,
,
, , , 1

Start

↑
Nearest (V 2)
:

6
.

·
p
4- ① 3= 2 Enclidean Distance

↓ x-x)
-
4 = 3
=
· 1
=
5 Start (y-yo
⑧
6 Start
Para
=

los casos
3
1 = 5
Goal los la dist
· en
que
tiene componente
24
3) c(3 6d)
Xey
(xgoal)
=

= c (s 2) ,
+ ((2 ,
+ ,

Cost
4) 20
c(2 3) c(3
=
c(S , 2)
+
+ ,

Cost (y)
,
=

c (S , 2) + < (2 . 4) = 12

c(6 3) 60) 185

(goall b) + 16 =
Cost +
c (s
,
= ,

Cost
(goal) =
c (S 5) ,
+ ((5 1) , + ((1 , 60) = 14193

S , 2 3 4, 5 , 6 , 1
, ,