A Note on the Point-Clothoid Distance Algorithm

RESUMO

Computing the closest point on a clothoid is a recurring task in geometric design, road and railway alignment, and path planning. The efficient algorithm of Frego and Bertolazzi addresses this problem, but its candidate-selection analysis assumes at most one local minimum per search interval. We exhibit admissible configurations with two local minima, raising the question of whether the existing strategy accounts for every possible minimum. Using the geometry of the clothoid evolute, we prove that, for any query point and any proper no-inflection planar clothoid segment with tangent-angle variation at most $2\pi$, the squared-distance function has at most three stationary points; if all three are local extrema, their order is min-max-min. This establishes the completeness of the original candidate-selection logic beyond the one-minimum premise. It also shows that no interior search is needed when neither endpoint derivative test is active, allowing unnecessary midpoint searches to be omitted while retaining numerical fallback. Numerical experiments demonstrate reductions in iteration count and evaluation time.