Extended RRT algorithm with dynamic N-dimensional cuboid domains

The paper presents an approach to path planning problem for manipulators operating in difficult environments with high probability of collisions. The approach improves the Rapidly exploring Random Trees (RRT) algorithm and produces a new approach with better results. It is achieved by expanding the forward and backward tree and reducing dynamically the sampling area of the free-configuration space (C-Space) by introducing a N-Dimensional cuboid regions. The place of this area could be dynamically or statically defined. The results show that this modification provides a very reasonable solution to the path planning problem applicable also to any kind of manipulators.