  AMR is widely used in factories to replace manual labor to reduce costs and
improve efficiency. However, it is often difficult for logistics robots to plan
the optimal trajectory and unreasonable trajectory planning can lead to low
transport efficiency and high energy consumption. In this paper, we propose a
method to directly calculate the optimal trajectory for short distance on the
basis of the Dubins set, which completes the calculation of the Dubins path.
Additionally, as an improvement of Dubins path, we smooth the Dubins path based
on clothoid, which makes the curvature varies linearly. AMR can adjust the
steering wheels while following this trajectory. The experiments show that the
Dubins path can be calculated quickly and well smoothed.
