采用此法，可以避免使用路径曲线段进行跟踪时曲率的计算以及计算量大和计算复杂等问题，使得自动引导车跟踪的实时性，精确度得到提高。
With the method, the calculation of curvature of tracking trajectory and complex calculating process can be avoided, and the performance of real-time and precision can be improved.
采样通过移动采样窗口跟踪曲线，在采样窗口内求线段的重心来实现。
Sampling is accomplished by calculating the centre of gravity of the line segment in the tracking window, which is moved in order to track the curve.
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