A further generalisation of the planar cubic Bézier spiral

Spiral segments are useful in the design of fair curves. They are important in CAD/CAM applications, the design of highway and railway routes, trajectories of mobile robots and other similar applications. Cubic Bézier curves are commonly used in curve and surface design because they are of low degree, are easily evaluated, and allow inflection points. This paper generalises earlier results on planar cubic Bézier spiral segments and examines techniques for curve design using the new results.