def METHOD_NAME():
    print("Start rrt star with dubins planning")
    # ====Search Path with RRT====
    obstacleList = [
        (5, 5, 1),
        (3, 6, 2),
        (3, 8, 2),
        (3, 10, 2),
        (7, 5, 2),
        (9, 5, 2)
    ]  # [x,y,size(radius)]
    # Set Initial parameters
    start = [0.0, 0.0, np.deg2rad(0.0)]
    goal = [10.0, 10.0, np.deg2rad(0.0)]
    rrtstar_dubins = RRTStarDubins(start, goal, rand_area=[-2.0, 15.0], obstacle_list=obstacleList)
    path = rrtstar_dubins.planning(animation=show_animation)
    # Draw final path
    if show_animation:  # pragma: no cover
        rrtstar_dubins.draw_graph()
        plt.plot([x for (x, y) in path], [y for (x, y) in path], '-r')
        plt.grid(True)
        plt.pause(0.001)
        plt.show()