  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
