A computer-implemented method for generating at least one segment of an offset path for a vehicle based on at least one segment of a base path is provided. The at least one segment of the base path is represented by a stored set of data points. The computer-implemented method includes comparing the at least one segment of the base path to a curvature constraint to determine if the at least one segment of the base path violates the curvature constraint. The curvature constraint is based on a characteristic of the vehicle and a desired offset distance from the at least one segment of the base path. The characteristic reflects the vehicle's ability to traverse at least one segment of a path. The method further includes modifying the at least one segment of the base path to satisfy the curvature constraint, if the at least one segment of the base path violates the curvature constraint. At least one segment of an offset path for the vehicle to follow is generated based upon the desired offset distance from the modified at least one segment of the base path.