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We present a new algorithm, named RSRT, for Rapidly-exploring Random Trees (RRT) based on inherent relations analysis between RRT components. RRT algorithms are designed to consider interactions between these inherent components. We explain properties of known variations and we present some future once which are required to deal with dynamic strategies. We present experimental results for a wide set of path planning problems involving a free flying object in a static environment. The results show that our RSRT algorithm (where RSRT stands for Rapidly-exploring Sorted Random Trees) is faster than existing ones. This results can also stand as a starting point of a motion planning benchmark instances which would make easier further comparative studies of path planning algorithms.

RSRT: RAPIDLY EXPLORING SORTED RANDOM TREE - Online Adapting RRT to Reduce Computational Solving Time while Motion Planning in Wide Configuration Spaces