A motion planning algorithm for smooth paths of bounded curvature and curvature derivative

This paper proposes an algorithm for planning C^\infty paths with bound curvature and curvature derivative linking two fixed (initial and final) configurations and passing through a given number of intermediate via-points. The proposed solution is derived solving an optimization problem such that a smooth curve of bounded curvature and curvature derivative approximates Dubin's shortest paths. The effectiveness of such strategy is verified by simulations. Preliminary experimental results are also briefly described.