Curvature-Continuous Offset Approximation Based on Circle Approximation using Biquadratic Bézier Curves

In this paper we present a G2 end-point interpolation of offset curves using rational Bézier curves of degree seven. The method is based on a G2 end-point interpolation of circular arcs using biquadratic Bézier curves. We also prove the invariance of the Hausdorff distance between two compatible curves under convolution. Using this result, we obtain the exact Hausdorff distance between an offset curve and its approximation by our method. We present the approximation algorithm and give numerical examples.