测地线的

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.

首先，环形容器缠绕线有两种类：沿稳定测地线的螺旋缠绕和类似正弦外包罗铺放。

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.

本文的基于测地线的轨规划是以轨弧长作为参考变量的，因此它还具有非时间参考的机器人轨规划的优。