In this project, a RRT-based method to cope with quadrotor path planning problem in damaged structures is proposed. First, a Graphic User Interface (GUI) was developed to define the environment conveniently. Then, RRT was used as basic path generating method. Besides, the limit on acceleration of the robot was considered to meet its dynamic constraints, and cost function was proposed to avoid danger zones in the environment. Next, B-spline method was implemented to achieve the smoothing of the final path. Finally, obtained results of 3D visualized simulation based on ROS and OpenGL are reported which validate the performance of the proposed method.