The main concern when planning the path of an autonomous robot is to ensure the safety of movement. The next problem is to make the path curvature smooth, boundedness and limit its rate of change with design restrictions of the robot. If one tries to solve these problems directly and simultaneously, he will need to perform such cumbersome calculations that cannot be done in real-time mode. We propose to simplify and automate the generation of planar paths for a wheeled robot in this study by splitting the solution into two stages. At the first stage, we construct a primitive path as a planar polyline. Its segments connect the control points and ensure the working scenario executes safely. At the second stage, we solve the problem of smoothing the polyline joints without any geometric calculations. The proposed solution uses a dynamic generator constructed as a copy of the equations describing the movement of the center of mass of the wheeled platform. To imitate the robot’s control actions, we synthesize the generator’s corrective actions using the decomposition and S-shaped feedbacks. This approach ensures that the robot’s design restrictions on velocity, acceleration, and control torques are met. Also, the output variables of the generator simulate the coordinates of the robot’s center of mass. Thus, these variables will generate a naturally smoothed path with an acceptable curvature under tracking the coordinates of the reference non-smooth route.