In this paper, we address the data sending and visualization in search-based planning using the open source software based on motion planning problems. First, we explore the computing architecture of software where we can communicate with other devices or sensors. It also is to understand the finding path problem by using the A-Start algorithm. By the way, it is

integrated to ROS (Robot Operation System) and implemented

in Nao Humanoid Robot based on solving the optimize the

trajectories.