Assuming perfect knowledge of the environment while designing the trajectory, the 3 ]) d( |9 R% u1 y( ]9 X, Nglobal trajectory planner yields a better solution than the local planner and avoids ; a u# C! I( |5 }) _- U |& ^8 M) jlocal minima.0 |( Y& E9 H; a7 a' _* k0 b(欢迎访问老王论坛:laowang.vip)