Assuming perfect knowledge of the environment while designing the trajectory, the ! F- E: w5 O$ g6 lglobal trajectory planner yields a better solution than the local planner and avoids & X* S+ l: o3 U1 `5 ?6 x$ F' m3 Xlocal minima., D3 `" G4 I! V7 R+ m' S0 B' r0 p(欢迎访问老王论坛:laowang.vip)