Nonholonomic Motion Planning
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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.