def METHOD_NAME(gx=6.0, gy=7.0, gyaw=np.deg2rad(90.0), max_iter=100):
    print("Start" + __file__)
    # ====Search Path with RRT====
    obstacle_list = [
        (5, 5, 1),
        (4, 6, 1),
        (4, 8, 1),
        (4, 10, 1),
        (6, 5, 1),
        (7, 5, 1),
        (8, 6, 1),
        (8, 8, 1),
        (8, 10, 1)
    ]  # [x,y,size(radius)]
    # Set Initial parameters
    start = [0.0, 0.0, np.deg2rad(0.0)]
    goal = [gx, gy, gyaw]
    closed_loop_rrt_star = ClosedLoopRRTStar(start, goal,
                                             obstacle_list,
                                             [-2.0, 20.0],
                                             max_iter=max_iter)
    flag, x, y, yaw, v, t, a, d = closed_loop_rrt_star.planning(
        animation=show_animation)
    if not flag:
        print("cannot find feasible path")
    # Draw final path
    if show_animation:
        closed_loop_rrt_star.draw_graph()
        plt.plot(x, y, '-r')
        plt.grid(True)
        plt.pause(0.001)
        plt.subplots(1)
        plt.plot(t, [np.rad2deg(iyaw) for iyaw in yaw[:-1]], '-r')
        plt.xlabel("time[s]")
        plt.ylabel("Yaw[deg]")
        plt.grid(True)
        plt.subplots(1)
        plt.plot(t, [iv * 3.6 for iv in v], '-r')
        plt.xlabel("time[s]")
        plt.ylabel("velocity[km/h]")
        plt.grid(True)
        plt.subplots(1)
        plt.plot(t, a, '-r')
        plt.xlabel("time[s]")
        plt.ylabel("accel[m/ss]")
        plt.grid(True)
        plt.subplots(1)
        plt.plot(t, [np.rad2deg(td) for td in d], '-r')
        plt.xlabel("time[s]")
        plt.ylabel("Steering angle[deg]")
        plt.grid(True)
        plt.show()