The car is a good example of
a nonholonomic vehicle: it has only two controls, but its configuration space
has dimension 3. The two drawings in the middle show nonholonomic paths between
two obstacles. The rightmost drawing shows a car that can on turn left doing a
parallel parking operation on its right side; many reversals are needed.
- Nonholonomic motion constraints
- Motion planner for car-like robot using basic maneuvers
- Transformation of holonomic path into a nonholonomic one
- Sampling-based non-holonomic planner
- Application to tractor-trailers
- Required Readings:
- Planner based on deterministic sampling:
J. Barraquand and J.C.
Latombe. Nonholonomic Multibody Robots: Controllability and Motion
Planning in the Presence of Obstacles. Algorithmica, 10:121-155,
- Other Readings:
- Basic maneuvers for a car-like robot:
J.P. Laumond. Feasible Trajectories for Mobile
Robots with Kinematic and Environment Constraints. Proc. Int. Conf. on Intelligent Systems, Amsterdam, pages
- Collection of papers on
non-holonomic motion planning:
J.P. Laumond (ed.). Robot
Motion Planning and Control. Lectures
Notes in Control and Information Sciences 229.
Springer, ISBN 3-540-76219-1, 1998.