In this work, we explore the possibilities of improving the characteristics of mobile robots based on wheeled vehicles, using the optimization of their movement along the route, taking into account kinematic characteristics and constraints. To do this, after selecting an array of waypoints and approximating it with splines, we divide the path into relatively linear segments and segments with significant maneuvering, for which we calculate the curvature profile. Further, during the movement, the predictive control module of the robot controller uses this curvature profile as a reference path, and to measure the current curvature, we use the microwave sensors of the wheels of the robot's differential drive.