Bezier path planning

A sample code of Bezier path planning.

It is based on 4 control points Beizer path.

../../../_images/Figure_1.png

If you change the offset distance from start and end point,

You can get different Beizer course:

../../../_images/Figure_2.png

Ref:

Continuous Curvature Path Generation Based on Bezier Curves for Autonomous Vehicles <https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=b00b657c3e0e828c589132a14825e7119772003d>