EXTEND RRT

simple RRT：

For its search, it requires the following threedomain-specific function primitives:

Function Extend (env:environment,current:state,target:state):state      可以应用很多启发式的方法，并且the better the heuristic,the fewer nodes the planner will need to expand on average, since it will not need to rely as much on random exploration.
Function Distance (current:state,target:state):real
Function RandomState ():state

extend RRT

Some optimizations over the basic described in existing work are bidirectional search to speed planning, and encoding the tree points in an efficient spatial data structure

ERRT没有采用双向搜索的策略，但是采用了KDtree作为空间的数据结构。

①a more general biased distribution