测地线的

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地的迹规划是以迹弧长作为参考变量的，因此它还具有非时间参考的机迹规划的优点。

Firstly, there are two types of winding patterns for toroidal vessel: spiral winding along toroidal vessel geodesics and analogous sine placement along the external surface of toroidal vessel.

先，环形容缠主要有两种类：沿稳定测地的螺旋缠和类似正弦外包罗铺放。