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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Bibliographic Details
Published in:IEEE robotics & automation magazine Vol. 19; no. 4; pp. 72 - 82
Main Authors: Sucan, Ioan A., Moll, Mark, Kavraki, Lydia E.
Format: Journal Article
Language:English
Published: New York, NY IEEE 01.12.2012
Institute of Electrical and Electronics Engineers
Subjects:
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
Online Access:Get full text
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Description
Summary: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