Object-oriented framework for motion planning in complex dynamic environments

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.