在船舶靠泊操纵仿真中，由于船舶不能视为质点运动，因此船岸距离的计算不能简单地归结为点线距离，而应该用多边形间距方法进行计算。
Vessel can not be regarded as particle while vessel is berthing, so distance of vessel and shoreline is not distance of point and line, it should be calculated as space between polygon and line.
采用角速度多边形根据圆锥齿轮安装关系进行运动效率分析。
According to setting relation of taper gear, movement efficiency is analyzed with angular speed polygon.
给出了此问题的形式化描述，并将问题归约为一种关于多边形运动规划的等价形式。
Firstly a formal description of the problem is proposed, and then the problem is transformed into one kind of equivalent form about polygon motion planning.
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