The Open Motion Planning Library | Zendy

Ioan A. Sucan | Zendy; Mark Moll | Zendy; Lydia E. Kavraki | Zendy

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The Open Motion Planning Library

Author(s) -

Ioan A. Sucan,

Mark Moll,

Lydia E. Kavraki

Publication year - 2012

Publication title -

ieee robotics and automation magazine

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.686

H-Index - 92

eISSN - 1558-223X

pISSN - 1070-9932

DOI - 10.1109/mra.2012.2205651

Subject(s) - robotics and control systems , aerospace , components, circuits, devices and systems , computing and processing , engineering profession , general topics for engineers , signal processing and analysis , transportation , power, energy and industry applications

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).

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