A steering method for the kinematic car using C*CS paths

A steering method for local path generation of car-like robots is presented in this paper. It is shown that in the absence of obstacles there are infinitely many solutions between two arbitrary configurations in the form of C*CS paths. This property facilitates the application of this class of paths in global planning algorithms where collisions with obstacles have to be avoided. In addition, we show that the steering method based on C*CS paths satisfies the topological property, hence a complete path planning algorithm can be constructed based on it.