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In the scope of this research, an algorithm is proposed to search a path in three different types of configuration spaces which are rectangular-, circular-, and torus-shaped by providing three converging options named as fast, medium, and optimum depending on the application. With the help of the proposed algorithm, 4-dimensional (D) path planning problem was realized as 2-D\u00a0+\u00a02-D by using six sequences and their options. The results obtained were simulated and no collision was observed between any bodies in these three options.<\/jats:p>","DOI":"10.1017\/s026357472100076x","type":"journal-article","created":{"date-parts":[[2021,6,16]],"date-time":"2021-06-16T05:15:21Z","timestamp":1623820521000},"page":"690-719","source":"Crossref","is-referenced-by-count":0,"title":["Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7712-1711","authenticated-orcid":false,"given":"\u00dcmit","family":"Yerlikaya","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"R.Tuna","family":"Balkan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,6,16]]},"reference":[{"key":"S026357472100076X_ref44","unstructured":"[44] Ramaiah, M. , Mukerjee, A. , Chakraborty, A. and Sharma, S. , \u201cVisual generalized coordinates,\u201d Math. 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