An Enhanced RRT based Algorithm for Dynamic Path Planning and Energy Management of a Mobile Robot

Abstract--Mobile robots often have limited battery life and need to recharge periodically. This paper presents an RRTbased path-planning algorithm that addresses battery power management. A path is generated continuously from the robot's current position to its recharging station. The robot decides if a recharge is needed based on the energy required to travel on that path and the robot's current power. RRT* is used to generate the first path, and then subsequent paths are made using information from previous trees. Finally, the presented algorithm was compared with Extended Rate Random Tree (ERRT) algorithm [4].