Difference between revisions of "Nonholonomic Motion Planning"

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{{chapter header|Nonholonomic Behavior|Nonholonomic Motion Planning|Future Directions}}
 
{{chapter header|Nonholonomic Behavior|Nonholonomic Motion Planning|Future Directions}}
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This chapter provides a survey of some of the techniques which have
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been used in planning paths for nonholonomic systems.
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Conventional (holonomic) path planners implicitly assume that arbitrary motion in
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the configuration space is allowed as long as obstacles are avoided.
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If a system contains nonholonomic constraints, many of these path
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planners cannot be directly applied since they generate paths which
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violate the constraints.
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For this reason, it is important to understand how to efficiently
 +
compute paths for nonholonomic systems.
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== Chapter Summary ==
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== Additional Information ==

Revision as of 02:56, 25 July 2009

Prev: Nonholonomic Behavior Chapter 8 - Nonholonomic Motion Planning Next: Future Directions

This chapter provides a survey of some of the techniques which have been used in planning paths for nonholonomic systems. Conventional (holonomic) path planners implicitly assume that arbitrary motion in the configuration space is allowed as long as obstacles are avoided. If a system contains nonholonomic constraints, many of these path planners cannot be directly applied since they generate paths which violate the constraints. For this reason, it is important to understand how to efficiently compute paths for nonholonomic systems.

Chapter Summary

Additional Information