A line acquisition system for generating an acquisition path for a vehicle, comprising: a hardware processor to: identify a destination path; identify a position of the vehicle; identify a heading error (ΔΦ) between the destination path and the vehicle; generate a curvature profile for turning the vehicle onto the destination path based on the heading error (ΔΦ), characterized by the curvature profile including line segments (170A-170H) for clothoid paths (134A, 134C, 134E, 134G; 134A, 134B, 134D, 134F, 134H), circular arc paths (134B, 134F; 134C, 134G), and zero curvature paths (134D; 134E); the hardware processor is further configured to: generate an acquisition path from the current position of the vehicle to the destination path from the clothoid path (134A, 134C, 134E, 134G; 134A, 134B, 134D, 134F, 134H), circular arc path (134B, 134F; 134C, 134G), and zero curvature paths (134D; 134E) identified in the curvature profile, generate a first section of the curvature profile that moves a current heading of the vehicle to an attack heading (172D; 172E) towards the destination path with a zero curvature (170D, 170E); generate a second section of the curvature profile that moves the vehicle from the attack heading (172D; 172E) to a heading to the destination path, generate the first section of the curvature profile so the vehicle has zero curvature (170D; 170E) at the attack heading (172D; 172E); identify an end point (134H; 1341) of the acquisition path; insert a zero-curvature segment (170D; 170E) between the first and second section of the curvature profile when the end point (134H; 1341) of the acquisition path is short of the destination path, identify a lateral error between the end point (134H; 1341) of the acquisition path and the destination path; and use the lateral error as a path distance for the zero-curvature segment (170D; 170E). identify a destination path; identify a position of the vehicle; identify a heading error (ΔΦ) between the destination path and the vehicle; generate a curvature profile for turning the vehicle onto the destination path based on the heading error (ΔΦ), characterized by the curvature profile including line segments (170A-170H) for clothoid paths (134A, 134C, 134E, 134G; 134A, 134B, 134D, 134F, 134H), circular arc paths (134B, 134F; 134C, 134G), and zero curvature paths (134D; 134E); the hardware processor is further configured to: generate an acquisition path from the current position of the vehicle to the destination path from the clothoid path (134A, 134C, 134E, 134G; 134A, 134B, 134D, 134F, 134H), circular arc path (134B, 134F; 134C, 134G), and zero curvature paths (134D; 134E) identified in the curvature profile, generate a first section of the curvature profile that moves a current heading of the vehicle to an attack heading (172D; 172E) towards the destination path with a zero curvature (170D, 170E); generate a second section of the curvature profile that moves the vehicle from the attack heading (172D; 172E) to a heading to the destination path, generate the first section of the curvature profile so the vehicle has zero curvature (170D; 170E) at the attack heading (172D; 172E); identify an end point (134H; 1341) of the acquisition path; insert a zero-curvature segment (170D; 170E) between the first and second section of the curvature profile when the end point (134H; 1341) of the acquisition path is short of the destination path, identify a lateral error between the end point (134H; 1341) of the acquisition path and the destination path; and use the lateral error as a path distance for the zero-curvature segment (170D; 170E). generate an acquisition path from the current position of the vehicle to the destination path from the clothoid path (134A, 134C, 134E, 134G; 134A, 134B, 134D, 134F, 134H), circular arc path (134B, 134F; 134C, 134G), and zero curvature paths (134D; 134E) identified in the curvature profile, generate a first section of the curvature profile that moves a current heading of the vehicle to an attack heading (172D; 172E) towards the destination path with a zero curvature (170D, 170E); generate a second section of the curvature profile that moves the vehicle from the attack heading (172D; 172E) to a heading to the destination path, generate the first section of the curvature profile so the vehicle has zero curvature (170D; 170E) at the attack heading (172D; 172E); identify an end point (134H; 1341) of the acquisition path; insert a zero-curvature segment (170D; 170E) between the first and second section of the curvature profile when the end point (134H; 1341) of the acquisition path is short of the destination path, identify a lateral error between the end point (134H; 1341) of the acquisition path and the destination path; and use the lateral error as a path distance for the zero-curvature segment (170D; 170E).