In the following, we will show that for a given con-
trol polygon, arcs always perform better than quadratic B-
splines in terms of obtaining smaller maximum curvature.
The other option is cubic B-splines, which naturally provide
continuous curvature if the path happens also to be collision
free. We will show a heuristic that can be used to find better
knot sequences that minimize the maximum curvature along
the path.