Table 1. The hyperparameters setting of RE-RRT*.

Hyper Parameters	Values
Size of image	m x n
Start Point	(Xinit,Yinit)
Goal Point	(Xgoal,Ygoal)
Segments on the line	10-15
Radius for neighbor node	30.0
Expansion step	30.0
Max Iteration	1000
Update time	50.0
Delay Time	0.0