The Open Motion Planning Library
Top Cited Papers
- 10 December 2012
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics & Automation Magazine
- Vol. 19 (4), 72-82
- https://doi.org/10.1109/mra.2012.2205651
Abstract
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).Keywords
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