B. Krogh and C. Thorpe. Integrated path planning and dynamic steering control for autonomous vehicles . In International Conference on Robotics and Automation, San Francisco, USA, Apr. 1986. This represents effectively a common solution to the problem. In our approach the robot was always obliged to minimize the drift from the original trajectory even while avoiding obstacles.
Different approaches exist in the literature.
Integrated path planning and dynamic steering control for autonomous vehicles . Such an approach suffers from a lack of robustness when experimented in real world settings since the execution of the planned trajectory is conditioned by several sources of uncertainties. B.H. Krogh and C.E. Thorpe. Integrated path planning and dynamic steering control for autonomous vehicles . 2 norm of the second derivative, the resulting curve will be a spline.