1.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优点。
2.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.