Between the layers of searching, the AUV dives in helix line,and the parametric equations of helix is utilized to design the path of diving.
在搜索层之间水下机器人采用螺旋线方式下潜,本文利用螺旋线的参数方程设计了下潜路径。
参考来源 - 热液探测水下机器人的路径规划及仿真·2,447,543篇论文数据，部分数据来源于NoteExpress
N-PLURAL a set of equations expressing a number of quantities as explicit functions of the same set of independent variables and equivalent to some direct functional relationship of these quantities 参数方程
a circle x²+y²=r² has parametric equations x=r cos θ and y=r sin θ in terms of the parameters r and θ
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