A boundary-curvature-aware and continuous-curvature path generation method for car-like robots

In order to guide the car-like robots run smoothly and steadily, we propose a boundary-curvature-aware and continuous-curvature path generation method based on prior researches. The main contribution of this paper is that the curvature value constraints at both ends of generated paths are well satisfied according to the given start and desired target configurations at the same time of keeping continuous curvature. Experiments show that paths generated by the proposed method keep with fine curvature character.