Step 5 Use equation (21) to compute the cubic trigonometric Bézier curve basis functions using the values of the shape parameters and gained in step 4.
Step 6 Calculate the curvature error measure as stated in equation (29)
Step 7 If then
output ; (Procedure completed successfully.)
stop.
else
Select random initial values for and satisfy the solution region and set them as new initial values in step 2, where we highly recommended choosing values close to initial value, 1.
Return to step 3 and search using the Interior Point method for values to and which minimize around the maximum error point in the previous iteration.
Step 8 Output (“Method failed after iterations split the GLAC or increase the tolerance 0.05, = ”, ).