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迹规划是以轨迹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，环形容器缠绕线型主要有两种类型：沿稳定测地线的螺旋缠绕和类似正弦外包罗铺放。