In order to improve the accuracy of circular braiding， an algorithm to generate the mandrel traction trajectory according to the mandrel shape and the target braid angle was proposed. In the trajectory generation stage， the changes in the length and angle of the convergence zone in the transient process were considered， and a dynamic braiding model was proposed to improve the generation accuracy of the traction trajectory. In the trajectory sampling stage， the spatial characteristics and speed characteristics of the trajectory were considered at the same time， and an adaptive sampling algorithm was used to make the sampled trajectory as close to the original trajectory as possible to ensure the final braiding accuracy. Simulation and physical tests show that for complex mandrels and non-constant target braid angles， the algorithm in this paper has a smaller braid angle error.