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6_AkilliSP_VehicleKinematicDinamicModel - Course 6...

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1 Course 6: NONHOLONOMIC CAR-LIKE ROBOT What is non-holonomic and holonomic? what is holonomic and nonholonomic system?. In general, a nonholonomic mechanical system cannot move in arbitrary directions in its configuration space, but holonomic systems can move.
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2 Sample Car Type X and Y are the Cartesian Coordinates. L is the length between two axles. θ measures the orientation of the car body with respect to the x axis. Ø is the steering angle. V1 is the driving velocity V2 is the steering velocity
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