Method of curvature controlled data smoothing

A method of adjusting path data for a motive body, said method comprising the steps of:

• identifying three consecutive points of the path data;
• ascertaining at least one of:
• a first distance between a circular arc defined by the three points and a middle portion of a first line extending between a first of the points and a second of the points;
• and
• a second distance between the circular arc and a middle portion of a second line extending between the second point and a third of the points;
• determining a turn angle between the first line and the second line;
• and
• performing smoothing on the second point if:
• at least one of the first distance and the second distance is less than a threshold distance;
• and
• the turn angle is greater than a threshold angle.

A method of adjusting path data for a motive body, said method comprising the steps of:

• identifying four consecutive points of the path data including a first point, a second point, a third point and a fourth point;
• locating a first arc defined by the first point, the second point and the fourth point;
• locating a second arc defined by the first point, the third point and the fourth point;
• and
• moving the second point into an area between the first arc and the second arc.