Table 2.

Smoothing algorithm comparison table.

Smoothing Method	L [m]	T [s]	${\mathit{e}}_{\mathit{tr}}$ [m${}^2$]	${\mathit{\kappa }}_{\mathit{avg}}$ [m${}^{-1}$]	BE	CVE
Clothoid	22.55	47.16	3.48	0.25	0.14	0.25
B-spline	27.79	60.59	6.05	0.84	5.55	20.21
Bézier curve	25.97	54.66	8.25	0.44	0.28	1.67
Cubic spline	24.93	51.87	3.82	0.29	0.13	0.11
Cubic Hermit spline	25.28	53.96	3.48	0.40	0.35	4.16
Dubins curve	24.98	54.18	4.28	0.68	0.24	2.88