The reasonability and validity of the method was testified by the coincidence of the simulation and the theory analysis under the motion mode of trapezoidal velocity and S-velocity profile.
在T形和S -曲线速度轮廓运动模式下，模型的仿真结果与理论分析一致，验证了该方法的合理性和有效性。
A smooth velocity profile is obtained by the connection of the S-shape for the trajectory and the curvature based on the corner.
将拐角前后的S加减速和拐角区域内速度连接后，得到了平滑的速度曲线。
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