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The Open Motion Planning Library
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.

OMPL.app, the front-end for OMPL, contains a lightweight wrapper for the PQP and FCL 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.

Current version: 0.10.2
Released: Mar 21, 2012

Contents of This Library

  • OMPL contains implementations of many sampling-based algorithms such as PRM, RRT, EST, SBL, KPIECE, SyCLOP, and several variants of these planners. See available planners for a complete list.
  • All these planners operate on very abstractly defined state spaces. Many commonly used state spaces are already implemented (e.g., SE2, SE3, Rn, etc.).
  • For any state space, different state samplers can be used (e.g., uniform, Gaussian, obstacle based, etc.).
  • API overview
  • Documentation for just the OMPL core library (i.e., without the “app” layer) is available here.

Getting Started

Other Resources