Assuming perfect knowledge of the environment while designing the trajectory, the% k( h; `# d9 n2 X. _(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids & f- G' r! L: d" t# g3 z) x vlocal minima. ' [9 O" ]. f; U( V/ z