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Other Publications Year : 1993

Motion Planning for Nonholonomic Vehicles: An Introduction

Bill Triggs


The last few years have seen a burst of activity in motion planning for vehicles with rolling constraints such as cars and trucks with trailers. Our understanding of such nonholonomic constraints has increased significantly and it is now possible to quickly plan complex parking and trailer-backing manoeuvres for these practically important systems. However the techniques used are highly mathematical and have not been easily accessible to a broad robotics-oriented audience. This paper presents an intuitive, geometrical introduction to the main mathematical definitions and theorems and summarizes some of the key practical approaches to nonholonomic vehicle planning.
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inria-00548415 , version 1 (20-12-2010)


  • HAL Id : inria-00548415 , version 1


Bill Triggs. Motion Planning for Nonholonomic Vehicles: An Introduction. 1993. ⟨inria-00548415⟩
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