Abstract: When a robot path planning module plans a path for nonholonomic wheeled robots, if we want to make the robot trajectory smooth and completely meet the robot kinematics constraints, we need the accurate map information of robot working environment which significantly increases the calculation amount of path planning algorithm. To solve the problem of the increased amout of calculation, a rough environment map information was adopted to plan a path in this paper. Then the interpolation function to represent the turning part was adopted. The solution ensured the whole path planning meet the robot kinematics constraints and increase the minimum amount of calculation. The existing robot trajectory equations cannot satisfy the need of robot turning trajectory for precise interpolation. So a curve fitting method and Taylor interpolation method were put forward to construct a nonholonomic wheeled mobile robot trajectory of turning time domain of differential equations. Experimental results show that the proposed methods can be used to interpolate the planning results of path and reduce the computational cost of the algorithm.