Assuming perfect knowledge of the environment while designing the trajectory, the; i3 ~8 T. Z4 K5 H3 h6 ](欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids0 z: M' k% B% {+ b(欢迎访问老王论坛:laowang.vip)
local minima. ( ^( ]' N+ X `# u4 `