Object-oriented framework for motion planning in complex dynamic environments

K. A. Kazakov^a, V. A. Semenov<sup>ab

a</sup> Ivannikov Institute for System Programming of the Russian Academy of Sciences
^b Moscow Institute of Physics and Technology (State University)

Abstract: In this paper, we discuss principles of the organization and functioning of the software framework intended for development of models, methods and applications of motion planning theory. Developed within an object-oriented paradigm the framework includes a wide variety of ready-to-use components that provide the functionality required for automatic search for collision-free trajectories for robots moving in both static and dynamic complex 3D environments. The proposed software design provides extensibility, adaptation and flexible configuration of the developed program components as a part of target applications. The developed architecture provides ability to integrate with third-party systems via interfaces of different level and extension points.

Keywords: motion planning, path planning, collision detection, software engineering, object-oriented programming.

DOI: 10.15514/ISPRAS-2017-29(5)-11

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