A system and method of path planning utilizing a clothoid curve to connect a start point and an end point is provided. The method includes receiving at a path planning system inputs including the start point and the end point of a desired path. The method further includes calculating clothoid parameters for a clothoid curve connecting the start point and the end point based the received start point, the received end point, and a closed-form expression, wherein the closed-form expression is generated based on a relationship between a plurality of unique center point values associated with a plurality of unique clothoid curves and the clothoid parameters associated with each of the plurality of unique clothoid curves. A clothoid curve is generated based on the determined clothoid parameters, wherein the generated clothoid curve represents a planned path from the start point to the end point.