What does holonomic mean?
Able to move in every direction it has freedom in, independently and at once. A holonomic robot on a floor can move forwards, move sideways and turn in any combination; a car is non-holonomic, because it cannot move sideways without manoeuvring.
In a lesson
A car has three degrees of freedom on the floor (x, y and heading) and two controls, and it cannot use them independently: to move sideways it must drive forwards and backwards several times. That is a non-holonomic vehicle, and parallel parking is the everyday proof.
Learn it
- Taught in U2.3 A drive that goes sideways Kinematics and frames, University
Used in
- 1.4 Sideways
- U9.1 The configuration space
- U9.7 Project: plan a route and drive it
- U10.3 Cross-track error
- U10.4 Pure pursuit