Steering Law

The steering law is a predictive model of how quickly one may navigate, or steer, through a 2-dimensional tunnel.

where T is the average time to navigate through the path, C is the path parameterized by s, W(s) is the width of the path at s, and a and b are experimentally fitted constants. In general, the path may have a complicated curvilinear shape (such as a spiral) with variable thickness W(s).

from