The Open Motion Planning Library

TLDR

OMPL is a new library that implements many state‑of‑the‑art sampling‑based motion‑planning algorithms. It enables users to solve diverse, complex motion‑planning problems with minimal input. OMPL supports easy extension of algorithms, integrates with other software, offers a GUI, tutorials, demos, assignments, and ROS support.

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).