minimization of the curvature of a 2D path through a corridor

I would like to find the minimum curvature 2D path through a curved 2D corridor of constant width. The curves are relatively small but are large enough to prevent a straight line transit of the corridor. The problem is time independent.

I have a cost function but it has a derivative term in it and I cannot figure out how this can be used with fmincon which I believe is the function that is most appropriate.

James

[Patrick Frece]

Hello,

is it possible for you to Elaborate on your solution since I have the same Problem but I can't implement it.

Regards Patrick

Answer 1

[Matt J]

fmincon does sound appropriate.