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.

本文基于测地轨迹规划是以轨迹弧长作为参考变，此它还具有非时间参考机器人轨迹规划优点。

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，环形容器缠绕型主要有两种类型：沿稳定测地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.

本文基于测地线轨迹规划是以轨迹弧长作为参变量，因此它还具有非时间参器人轨迹规划优点。

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，环形容器缠绕线型有两种类型：沿稳定测地线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迹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。

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.

本文基于测地迹规划是迹弧长作为参考变量，因此它还具有非时间参考机器人迹规划优点。

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，环形容器缠绕型主要有两种类型：沿稳定测地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。

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，环形容缠绕要有两种类：沿稳定测地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。

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。