Assuming perfect knowledge of the environment while designing the trajectory, the9 L. d! }3 E( z0 e5 U3 x(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids 6 p- T2 h" O( z0 ~" H, S, Mlocal minima.6 D; x6 U$ g1 M( w! G5 ^( G3 G6 v(欢迎访问老王论坛:laowang.vip)