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BRRT (Beteigeuze RRT)

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

Build it

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

Run it

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

Example

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

Path planning example

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.

Tune the algorithm

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.