The main contribution of our approach is the novel motion
planner, which can create plans for modular robots moving in
complex environments. Our approach can be combined with
various locomotion generators, which can realize different gaits.
The motion planner allows the use of simple motion primitives
without the need to introduce sensory feedback to detect obstacles
or other difficult areas. The proposed system allows the robot
to visit distant places in complex environments, where obstacles
need to be avoided. It is assumed, that the dynamics of the robots is
not crucial here, as the studied robots move mostly using crawling
and therefore the impact of dynamics is negligible and it can be
handled on the CPG level. This allows us to focus this paper only to
the motion planning problem.