Just some thoughts:
– Use the coordinates of the cones as initially thought
– The initial (and subsequent) paths should consist of vectors. A starting point, a direction (absolute) and a length.
– Steering change should be just that. An increment in angle of the next vector.

I think usage of curves should be avoided. I will use straight line segments/vectors (short ones and long ones) to make up the entire path.

Set an initial value for max acceleration, max deceleration and max centripetal acceleration.