This is an example of R* (Randomized A*) Path Planning algorithm. Click and drag on the grid to set up obstacles. Then you may change the maximum number of local expansions when computing a local path. After you set up an environment and the number of expansions, type the value for DELTA, maximum distance to the successor, set up maximum number of successors, and hit Start Over to replan the path. Initial ε value can also be changed. Just type in a new value and hit Start Over. To reset the environment, hit Reset.


  - expanded state  
  - obstacle  
  - cell labeled to AVOID  
  - g value (cost from the start to the current state)  
  - start point  
  - goal point  

  - path       

R* Path Planning