A B-spline curve-based path planning method, comprising: selecting data points according to acquired station coordinates, the number of selected data points being at least the order of a B-spline plus 1 (S01); according to the coordinates of the selected data points, obtaining control points by calculation (S02); and obtaining a B-spline parameter equation by calculation according to the control points, and using the B-spline parameter equation to represent a planned path (S03). Data points can be dynamically selected according to B-spline path dynamic planning, the number of selected data points is small, control points can be obtained by calculation according to data points, and the calculation process is simple. The vehicle speed is adjusted according to a curvature, the angular rate is adjusted according to the vehicle speed of a vehicle, a PID control method is used, a posture error is eliminated, and a robot is controlled to move according to a desired path.
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