To　avoid　the　discontinuity　and　unsmoothness　of　the　global　path　planning,　a　path-smoothing　algorithm　based　on　the　cubic　quasi-uniform　B-spline　curve　was　proposed.　Based　on　the　DeBoor　trigonometric　recursion　algorithm,　the　fan-shaped　output　algorithm　(FA)　in　interval　mode　was　designed.　Compared　with　the　traditional　recursion　method,　the　operational　efficiency　of　the　FA　algorithm　was　increased　by　38%.　Based　on　the　FA　algorithm,　with　the　consideration　of　the　mapping　relationship　between　curve　curvature　and　angle,　the　impact　of　angular　variation　on　the　distribution　coefficient　was　studied　systematically.　The　increase　mode　of　control　point　under　the　angular　variation　was　proposed　to　establish　the　kinematics　model　of　the　mobile　robot.　The　initial　control　broken-line　path　was　optimized　with　the　constraint　condition　of　maximum　path　curvature.　Research　results　show　that　the　smooth　path　can　fulfill　C2-continuity　under　the　property　of　the　quasi-uniform　B-spline.　The　proposed　algorithm　was　verified　by　simulation　and　experiment　on　the　wheeled　mobile　robot.　©　2022,　Editorial　Board　of　Journal　of　Huazhong　University　of　Science　and　Technology.　All　right　reserved.