Thank you. XXXXX the courts have previously ruled that "convicted persons...enjoy no fundamental right to travel." Lines v. Wargo, 271 F.Supp.2d 649, 661 (W.D.Pa. 2003). Keep in mind that in, the Lines case, the convicted felon represented himself in court.
Now, you can contact the parole board on your own, in writing, and ask that the condition be removed. They could do it if they wanted to and if you give them proof of how the ban is harming you. However, very honestly, you are going to want to have legal representation.
If you are not able to afford to hire your own attorney to make the constitutional argument, then you may want to contact your local ACLU office and see if they would represent you.
The instructions for seeking their assistance is found at this page: http://www.aclupa.org/legal/fileacomplaint.htm
I understand that what you're seeking seems to be very straight forward. However, it's not an outcome which you are automatically entitled to. It will require some legal muscle and that's why I encourage you to contact your local ACLU.
My goal is to provide you with excellent service – if you feel you have gotten anything less, please reply back. I am happy to address follow-up questions. Thank you for your business!