Assuming perfect knowledge of the environment while designing the trajectory, the : c# M" ?9 g& z: ?' hglobal trajectory planner yields a better solution than the local planner and avoids * p- N7 d1 F1 D8 Q. d0 q' \local minima.6 I4 K; m% m* J8 r9 t; u(欢迎访问老王论坛:laowang.vip)