Abstract-We describe the Open Motion Planning Library (OMPL), a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms. The library is designed in a way that allows the user to easily solve a variety of complex motion planning problems with minimal input. OMPL facilitates the addition of new motion planning algorithms and it can be conveniently interfaced with other software components. A simple graphical user interface (GUI) built on top of the library, a number of tutorials, demos and programming assignments have been designed to teach students about sampling-based motion planning. Finally, the library is also available for use through the Robot Operating System (ROS).
For collisionfree path planning, the Open Motion Planning Library REF provides a large collection of state-of-the-art algorithms, but no means for executing these paths on physical robots.
1 The Open Motion Planning Library
IEEE Robotics & Automation Magazine
IEEE Robotics & Automation Magazine
Computer Science