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.

本文基于测地线规划是弧长作为参考变量，因此它还具有非时间参考机器人规划优点。

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，环形容器缠绕线型主要有两种类型：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.

本文的基于测地的规划是以弧长作为参考变量的，因此它还具有非时间参考的机器规划的优点。

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，环形容器型主要有两种类型：沿稳定测地的螺旋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是以轨迹弧长作为参考变量，因此它还具有非时间参考机人轨迹优点。

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，环缠绕线型主要有两种类型：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.

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

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，环形容缠绕线有两种类：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.

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

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.

，容器缠绕线型主要有两种类型：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规划是以轨作为参考变量的，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变量，因此它还具有非时间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，环形容器缠绕线型主有种类型：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.

本文基于测地线轨迹规划是以轨迹弧长作为参考，因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，环形容器缠绕线型主要有两种类型：沿稳定测地线缠绕和类似正弦外包罗铺放。