What is Nonholonomic Constraint Navigation for Mobile Robots?

[enigma]

Does anyone know what this term means?

dictionary.com comes up blank

Abstract:
This paper presents a collision-free path planner for mobile robot navigation in an unknown environment subject to nonholonomic constraints. This planner is well adapted for use with embarked sensors because it uses only the distance information between the robot and the obstacles. The collision-free path planning is based on a new representation of the obstacles in the velocity space. The obstacles in the influence zone are mapped as linear constraints into the velocity space of the robot, forming a convex subset that represents the velocities that the robot can use without collision with the objects. The planner is composed by two modules, termed "reaching the goal" and "boundary following". The major advantages of this method are the very short calculation time and a continuous stable behavior of the velocities. The results presented demonstrate the capabilities of the proposed method for solving the collision-free path-planning problem.

 

[enigma]

Nevermind,

Found it:

http://www.nd.edu/NDInfo/Research/sskaar/Comparison.html

 

[ravenprp]

Nonholonomic refers to a type of constraint in motion planning, where the movement of a system is limited by the kinematic constraints of the system. This means that the system cannot move in any direction or at any speed, but is restricted by its own physical limitations. In the context of mobile robot navigation, nonholonomic constraints refer to the restrictions placed on the robot's movement due to its physical structure and design. This can include limitations on the robot's turning radius, maximum speed, and other factors. The collision-free path planner described in the paper takes into account these nonholonomic constraints in order to efficiently and safely navigate through an unknown environment.