Patent ID: 8606498

Claim:
A computer-implemented method for generating a planar trajectory for use by a vehicle in guiding its position, the method comprising: (a) determining whether a plurality of points representing the trajectory are at least substantially equidistant; (b) if the plurality of points are determined to not be at least substantially equidistant: generating an auxiliary curve approximating the trajectory; identifying a plurality of substantially equidistant points from the auxiliary curve; and fairing the identified plurality of substantially equidistant points to generate a plurality of faired points; (c) if the plurality of points are determined to be at least substantially equidistant, fairing the plurality of points to generate the plurality of faired points; and (d) computing by a processor, a plurality of polynomial segments from the plurality of faired points, wherein the polynomial segments form a curve representing the trajectory, the curve is C 2 -smooth, and the curve does not exceed the steering capability of the vehicle.