gifs and images

pmusau17 · May 3, 2021 · f74dd06 · f74dd06
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diff --git a/README.md b/README.md
@@ -2,7 +2,19 @@
 
 Let's see what we can learn about MPC and RRT*
 
-This repository assumes that you have this [repo](https://github.com/pmusau17/Platooning-F1Tenth) cloned and built. This repository contains implementations of planning algorithms for the F1Tenth Platform. I'm going to start writing tutorials on this as I learn. Planning is hard haha. 
+This repository assumes that you have this [repo](https://github.com/pmusau17/Platooning-F1Tenth) cloned and built. This repository contains implementations of planning algorithms for the F1Tenth Platform. I'm going to start writing tutorials on this as I learn. 
+
+### RRT* Random Sampling:
+![RRT_Biased](images/rrt_normal.gif)
+
+### RRT* with biased sampling near the car
+![RRT Biased](images/rrt_biased.gif)
+
+### Closer Look at Solution 
+![RRT_Grid](images/RRT_grid.png)
+
+### Result after 2500 Samples:
+![Porto Grid](images/Porto2500.png)
 
 ```
 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'

diff --git a/images/Porto2500.png b/images/Porto2500.png
diff --git a/images/RRT_grid.png b/images/RRT_grid.png
diff --git a/images/rrt_biased.gif b/images/rrt_biased.gif
diff --git a/images/rrt_normal.gif b/images/rrt_normal.gif
diff --git a/rrt_star_ros/rrt_star.py b/rrt_star_ros/rrt_star.py
@@ -393,7 +393,7 @@ def plot_final(self):
     step_length = 0.30 
     goal_sample_rate = 0.10
     search_radius = 1.00
-    n_samples = 2000
+    n_samples = 100
 
     rrt_star = RrtStar(x_start, x_goal, step_length,goal_sample_rate, search_radius, n_samples,grid)
     rrt_star.planning()