PATH PLANNING METHOD, MOTION CONTROL METHOD AND COMPUTER PROGRAM PRODUCT

Provided are a path planning method for a mobile robot. The method comprises the following steps: acquiring a starting point pose and a starting point curvature τ0 at a starting point A, and an ending point pose and an ending point curvature τ1 at an ending point B; determining a point C1 and a point C3; determining a point C2 on a line segment C1C3; determining a first path and a second path, both of which are three-order Bezier curves that meet the following constraints: a mobile robot satisfying the starting point pose and the starting point curvature τ0 at the starting point A according to the first path, the mobile robot satisfying the ending point pose and the ending point curvature τ1 at the ending point B according to the second path, and according to the first path and the second path, the mobile robot having a linear velocity direction at the point C2 the same as a vector (A) and having a curvature of 0; and taking a path formed by splicing the first path and the second path as a planned path or a p