What action cost should be used to get a smooth path? Like we use distance traversed to get the shortest path. Will the cost to get a smooth path will be something related to rate of change of slope of the path?
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3Can you define smooth? I think what you're looking for is minimizing jerk, where jerk is the third derivative of position (first derivative of acceleration). – Chuck Feb 28 '16 at 01:51
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By smooth I mean path free of any spikes or corners. – vacky Feb 28 '16 at 22:36
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as Chuck said, minimize for jerk. Also you might want to take a look at jerk minimal trajectory planning. – 50k4 Mar 04 '16 at 16:07