抄録
This paper introduces "Path Planning Tool" which is under development as a part of OpenRT Platform. It provides a collision-free path planning function on the 2D plane in the 3D environment. Since its planning engine is implemented as a RTcomponent, it can be used in two ways, designing paths offline through GUI and generating path online by accessing from user's RTcomponent. The engine consists of three kinds of algorithms, mobility, planning and optimization algorithm. Several basic algorithms are built-in to make it possible for users to start planning quickly. But if those algorithms are not enough, users can add their own algorithms easily.
