Interpolating G² Bi-clothoidal/Second Clothoidal Spline Curve

Abstract

A method by use of a general-purpose computer algebra system is presented which derives two kinds of interpolating curves for computer aided design by controlling curvature-profiles described as linea/quadratic B-splines. Compact algorithm owing to symbolic manipulation and good initial/default values from the conventional curves make it easier to use these flexible curves with curvature-profiles almost free from unwanted undulation.