Primitives for Smoothing Mobile Robot Trajectories

Clothoids are very useful for smoothing the motion of a mobile robot mowing along a trajectory. This paper addresses the problem of smoothing the mobile robot motions when cusps, i e . , changes of motion direction along the trajectory, are imposed. We pinpoint some special curves (that we call uanticlothoids”) and we discuss how they can be used together with clothoids in order to smooth a predefined trajectory.