OMPL, the Open Motion Planning Library, consists of many state-of-the-art sampling-based motion planning algorithms. OMPL itself does not contain any code related to, e.g., collision checking or visualization. This is a deliberate design choice, so that OMPL is not tied to a particular collision checker or visualization front end. The library is designed so it can be easily integrated into systems that provide the additional needed components. OMPL.app, the front-end for OMPL, contains a lightweight wrapper for the FCL and PQP collision checkers and a simple GUI based on PyQt / PySide. The graphical front-end can be used for planning motions for rigid bodies and a few vehicle types (first-order and second-order cars, a blimp, and a quadrotor). It relies on the Assimp library to import a large variety of mesh formats that can be used to represent the robot and its environment.
Keywords for this software
References in zbMATH (referenced in 6 articles )
Showing results 1 to 6 of 6.
- Orthey, Andreas; Toussaint, Marc: Visualizing local minima in multi-robot motion planning using multilevel Morse theory (2021)
- Zhou, Bo; Chiang, Yi-Jen; Yap, Chee: Soft subdivision motion planning for complex planar robots (2021)
- Rizwan, Momina; Patoglu, Volkan; Erdem, Esra: Human robot collaborative assembly planning: an answer set programming approach (2020)
- Brégier, Romain; Devernay, Frédéric; Leyrit, Laetitia; Crowley, James L.: Defining the pose of any 3D rigid object and an associated distance (2018)
- Zhou, Bo; Chiang, Yi-Jen; Yap, Chee: Soft subdivision motion planning for complex planar robots (2018)
- Salzman, Oren; Hemmer, Michael; Raveh, Barak; Halperin, Dan: Motion planning via manifold samples (2013)