In the generation phase, a finite set of parallel paths or trajectories is computed with the nonholonomic constraints of the vehicle.
Due to the vehicle dynamic model based vehicle state expansion, the trajectory generated by the proposed method meets the nonholonomic constraints of the vehicle.
Especially, the nonholonomic constraints
of AGV have been taken into consideration.
In holonomic systems, the control input degrees are equal to total degrees of freedom, whereas, nonholonomic systems have less controllable degrees of freedom as compared to total degrees of freedom and have restricted mobility due to the presence of nonholonomic constraints
Then the equation of nonholonomic constraints
for each wheel, taking into account (11) will be:
Within this framework, we defined an extremum problem, either with holonomic constraints or nonholonomic constraints
of equality type, if the Pfaff system (5.
Exponential stabilization of mobile robots with nonholonomic constraints
, IEEE Trans.
Information maximization approach with nonholonomic constraints
to systems in mechanics with nonholonomic constraints
, is briefly discussed as well.
Motion Planning for Robots with Nonholonomic Constraints
Their analysis ignores the distinction between holonomic and nonholonomic constraints
and is in fact applicable to systems that are currently excluded from the usual framework of Lagrangian mechanics.
Model of the cart-IP is usually used for testing controllers because it represents simple version of the class of underactuated mechanical systems with nonholonomic constraints
of second order.