This is a kind of backward RRT for mobile robots with two seperate controllable steering axes. (see www.kamaro-engineering.de for an example)

Open the solution in Monodevelop or Visualstudio an simply build it. Or run xbuild on a console.

You need to pass:

• Input map as an image: InputFile.png
• Startpoint as x, y, orientation
• Endpoint as x, y, orientation
• Name of image the path should be drawn in: Outputfile.png
• (optional) Path to xml the path should be stored in: Path.xml

mono BRRT.ext InputFile.png x,y,orientation x,y,orientation Outputfile.png Path.xml

This is an example result of this call run on the MAP_roundedFreeForRobot.png in the tests folder.

mono ../BRRT/bin/Debug/BRRT.exe MAP_roundedFreeForRobot.png 1000,1247,90 2310,899,280 results/ResultMap$i.png  results/Path.xml

Note : the map been run through an algorithm that inflates the obstacles to consider the robot width. That means if the path cut a small part of an obstacle edge this will not result into a collision.

There are basically two points where you could tune the result:

The first one is the constructor in the RRT.cs. The parameters are explained in the in file documention.

The second one is the constructor in the PathOptimizer.cs.