path-smoothing-ros

A cubic spline interpolator for path smoothing. Compatible with ROS.

References

• J. Hilgert, K. Hirsch, T. Bertram and M. Hiller, "Emergency path planning for autonomous vehicles using elastic band theory," Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003), 2003, pp. 1390-1395 vol.2. doi: 10.1109/AIM.2003.1225546