There are a couple of free software suites out there, in case you don't want to go into the guts of it yourself:

• The Reflexxes library of Stanford professor Torsten Kroeger (http://reflexxes.com/)
• The V-Rep simulation environment contains a motion planner (http://www.coppeliarobotics.com/)
• The Open Motion Planning Library (OMPL, http://ompl.kavrakilab.org/)

In case I remember another one, I'll update that post, but it should give you already a good idea.

There are a couple of free software suites out there, in case you don't want to go into the guts of it yourself:

• The Reflexxes library of Stanford professor Torsten Kroeger (http://reflexxes.com/)
• The V-Rep simulation environment contains a motion planner (http://www.coppeliarobotics.com/)
• The Open Motion Planning Library (OMPL, http://ompl.kavrakilab.org/)

In case I remember another one, I'll update that post, but it should give you already a good idea.

Raspberry pi based may be preferred as it well suits with MATLAB

Check Peter Corke's Robotics Toolbox and Book:

http://petercorke.com/Robotics_Toolbox.html

http://petercorke.com/Robotics_Toolbox.html