Mobile robots often have limited battery life and need to recharge periodically. This paper presents an RRT- based 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

翻译：移动机器人通常电池寿命有限，需要定期充电。本文提出了一种基于RRT的路径规划算法，用于解决电池电量管理问题。该算法从机器人当前位置到充电站连续生成路径。机器人根据该路径行驶所需的能量以及当前电量，决定是否需要充电。首先采用RRT*生成初始路径，随后利用先前路径树的信息生成后续路径。最后，将所提算法与扩展速率随机树算法进行了比较。