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Academic Journal
Object-oriented framework for motion planning in complex dynamic environments
K. A. Kazakov, V. A. Semenov
Труды Института системного программирования РАН, Vol 29, Iss 5, Pp 185-238 (2018)
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| Title | Object-oriented framework for motion planning in complex dynamic environments |
|---|---|
| Authors | K. A. Kazakov, V. A. Semenov |
| Publication Year |
2018
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| Source |
Труды Института системного программирования РАН, Vol 29, Iss 5, Pp 185-238 (2018)
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| Description |
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.
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| Document Type |
article
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| Language |
English
Russian |
| Publisher Information |
Ivannikov Institute for System Programming of the Russian Academy of Sciences, 2018.
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| Subject Terms | |
