Assuming perfect knowledge of the environment while designing the trajectory, the; X5 K& V" u1 N+ r- |: Q(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids ' A# A& d$ k2 I4 v+ I8 olocal minima. u5 S# s( b9 I4 F6 R, D. e- y