Assuming perfect knowledge of the environment while designing the trajectory, the ; g- g& t& h' V; B8 j j/ o' ~* F- uglobal trajectory planner yields a better solution than the local planner and avoids : B: Q0 i* g, `- ?local minima.1 e5 J3 d& ~) J& c+ r* ~(欢迎访问老王论坛:laowang.vip)