I am currently designing and fabricating a maze solving robot for my final year project. The camera above will capture the image of maze and robot will find its way through RRT algorithm but unfortunately, I am unable to understand how exactly RRT works, what are its basic principles and mechanisms. I have searched a lot on internet but I was unable to find anything helpful. I need a complete detailed explanation on it.

I have no issue with programming. Once I get the idea with complete detail I can write the code myself.