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Hello Ken,
You can probably use both types of planners. It really depends on how you would like to control the system. For the turtlebot I think geometric planners may be more appropriate, and they will run faster. You could parametrize the velocity as a post-processing step on the path. If you have an ODE describing your model of motion and would like to plan for that, then control planners would be more suitable.
PRM constructs a roadmap and we do not assume the ability to solve the 2 point boundary value problem, so there is no implementation in control/.
More documentation about OMPL is at http://ompl.kavrakilab.org and the OMPL mailing list.
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