包含n个控制点（含起点和终点）B样条曲线的移动机器人轨迹规划程序，所生成的轨迹必须严格经过起点、第三个控制点和终点（可调）(A trajectory planning program for mobile robot with n control points (including start and end points) and B-spline curves. The generated trajectory must strictly pass through the start point, the third control point and the end point (adjustable))