Disclosed are methods and apparatus for determining a path (4) for a vehicle (2). The method comprises providing starting and final positions for the vehicle (2), and using the provided positions, determining an ordered sequence of points, thereby providing the path (4) for the vehicle (2). Performing the optimisation process comprises: minimising a distance between the final position and a last point in the sequence; for each point other than a last point in the sequence, constraining a distance between that point and the next point to be equal to a predefined distance; and, for each path point other than the first and last points, constraining an angle between a line that connects that point to the point that precedes it and a line that connects that point to the next point to be greater than or equal to a predefined angle.