Planning an achievable trajectory for a mobile robot usually consists of two steps: (i) finding a path in the form of a sequence of discrete waypoints and (ii) transforming this sequence into a continuous and smooth curve. To solve the second problem. this paper proposes algorithms for automatic dynamic smoothing of the primary path using a tracking differentiator with sigmoid correct... https://www.roneverhart.com/Kenny-s-Licorice-Pastels-5LB-Bag/