The invention relates to the technical field of
motion planning, and particularly discloses a linear path fairing method based on Airthoid and an arc, and the method specifically comprises the steps: 1, determining a curvature
radius extreme value of a fairing curve and a solution set of a first tangent angle according to approximate error constraint and non-
selfing constraint; step 2, calculating a solution set of parameter combinations meeting tangential continuity, curvature continuity and position continuity constraints; step 3, calculating an intersection of the solution set 1 and the solution set 2 to obtain a solution set 3; judging whether the solution set 3 is null or not, if so, running the step 5; if not, the fourth step is executed; 4, calculating an optimal parameter combination in the solution set 3, and then running the step 6; 5, generating a fairing curve parameter combination not containing an arc according to the non-
selfing constraint, and then running the step 6; and 6, analyzing and calculating the curvature extreme value and the
arc length of the fairing curve. The method has the advantages of being based on
arc length parameter expression, controllable in
contour error, and capable of achieving curvature extreme value and
arc length analysis expression.