Assuming perfect knowledge of the environment while designing the trajectory, the2 E! g: c1 u; U \(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids/ {7 T6 X; d X# x6 ?: T) F(欢迎访问老王论坛:laowang.vip)
local minima. 3 Q( k* ^ n d q e3 c" Z