Mobile%20Robot%20Kinematics

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Mobile Robot Kinematics
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• ??? 3 ???? Introduction to Autonomous Mobile
  Robots

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Holonomic Robots
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Nonholonomic systems

• Nonholonomic systems are characterized by
  constraint equations involving the time
  derivatives of the system conguration variables.
  These equations are non integrable they
  typically arise when the system has less controls
  than configuration variables.
• For instance a car-like robot has two controls
  (linear and angular velocities) while it moves in
  a 3-dimensional conguration space.
• As a consequence, any path in the conguration
  space does not necessarily correspond to a
  feasible path for the system. This is basically
  why the purely geometric techniques developed in
  motion planning for holonomic systems do not
  apply directly to nonholonomic ones.

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Nonholonomic Constraint
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• ?? ??? ???? ??? ?? ????? holonomic ???

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  ??? ????? holonomic ???.

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