Dubins inspired 2D smooth paths with bounded curvature and curvature derivative.

This paper addresses the issue of planning smooth (C∞) 2D paths with bounded curvature and curvature derivative connecting two assigned poses (positions and orientations). The solution builds on an approximation of Dubins shortest paths and it can be used also to link an ordered sequence of via-points. The effectiveness of the proposed planning method is validated by simulations.