There are some open source motion planners availible on following web sites.
Motion Planning Kit (MPK) -- (J.-C. Latombe, Standford University)
http://ai.stanford.edu/~mitul/mpk/
Motion Strategy Library --(Steven M. LaValle, Illinois University)
http://msl.cs.uiuc.edu/msl/
An Object-Oriented Programming System for Motion Planning(OOPSMP) -- (Lydia Kavraki, Rice University)
http://www.kavrakilab.org/OOPSMP/index.html
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