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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    $\begingroup$ Can 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). $\endgroup$ – Chuck Feb 28 '16 at 1:51
  • $\begingroup$ By smooth I mean path free of any spikes or corners. $\endgroup$ – vacky Feb 28 '16 at 22:36
  • $\begingroup$ as Chuck said, minimize for jerk. Also you might want to take a look at jerk minimal trajectory planning. $\endgroup$ – 50k4 Mar 4 '16 at 16:07

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