The Open Motion Planning Library

The open motion planning library (OMPL) is 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 it allows the user to easily solve a variety of complex motion planning problems with minima...

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Vydáno v:IEEE robotics & automation magazine Ročník 19; číslo 4; s. 72 - 82
Hlavní autoři: Sucan, Ioan A., Moll, Mark, Kavraki, Lydia E.
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York, NY IEEE 01.12.2012
Institute of Electrical and Electronics Engineers
Témata:
Aerospace electronics
Applied sciences
Benchmark testing
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Libraries
Planning
Robotics
Robots
Software
Software algorithms
Motion control
Planning
ISSN:1070-9932, 1558-223X
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Popis
Shrnutí:The open motion planning library (OMPL) is 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 it 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 are designed to teach students about sampling-based motion planning. The library is also available for use through Robot Operating System (ROS).
ISSN:1070-9932
1558-223X
DOI:10.1109/MRA.2012.2205651