A method for determining a path for a vehicle, the method comprising: providing a starting position for the vehicle; providing a desired final position for the vehicle; and using the provided start position and desired final position, performing, by one or more processors, an optimisation process to determine a position for each path point in an ordered sequence of path points (P 1 - P n), thereby providing the path for the vehicle defined by the ordered sequence of path points (P 1 - P n); wherein performing the optimisation process comprises: for each path point other than the first path point (P 1) in the ordered sequence (P 1 - P n) and the last path point (P n) in the ordered sequence (P 1 - P n), constraining an angle between a line that connects that path point to the path point that precedes that path point in the ordered sequence (P 1 - P n) and a line that connects that path point to the next path point in the ordered sequence (P 1 - P n) to be greater than or equal to a predefined angle, characterised by minimising a distance between the desired final position for the vehicle and a last path point (P n) in the ordered sequence of path points (P 1 - P n), and for each path point other than a last path point (P n) in the sequence of path points (P 1 - P n), constraining a distance between that path point and the next path point in the ordered sequence (P 1 - P n) to be equal to a predefined distance.. providing a starting position for the vehicle; providing a desired final position for the vehicle; and using the provided start position and desired final position, performing, by one or more processors, an optimisation process to determine a position for each path point in an ordered sequence of path points (P 1 - P n), thereby providing the path for the vehicle defined by the ordered sequence of path points (P 1 - P n); wherein performing the optimisation process comprises: for each path point other than the first path point (P 1) in the ordered sequence (P 1 - P n) and the last path point (P n) in the ordered sequence (P 1 - P n), constraining an angle between a line that connects that path point to the path point that precedes that path point in the ordered sequence (P 1 - P n) and a line that connects that path point to the next path point in the ordered sequence (P 1 - P n) to be greater than or equal to a predefined angle, characterised by minimising a distance between the desired final position for the vehicle and a last path point (P n) in the ordered sequence of path points (P 1 - P n), and for each path point other than a last path point (P n) in the sequence of path points (P 1 - P n), constraining a distance between that path point and the next path point in the ordered sequence (P 1 - P n) to be equal to a predefined distance.. for each path point other than the first path point (P 1) in the ordered sequence (P 1 - P n) and the last path point (P n) in the ordered sequence (P 1 - P n), constraining an angle between a line that connects that path point to the path point that precedes that path point in the ordered sequence (P 1 - P n) and a line that connects that path point to the next path point in the ordered sequence (P 1 - P n) to be greater than or equal to a predefined angle, characterised by minimising a distance between the desired final position for the vehicle and a last path point (P n) in the ordered sequence of path points (P 1 - P n), and for each path point other than a last path point (P n) in the sequence of path points (P 1 - P n), constraining a distance between that path point and the next path point in the ordered sequence (P 1 - P n) to be equal to a predefined distance..