Assuming perfect knowledge of the environment while designing the trajectory, the : e0 ^! N# _! E5 G( Rglobal trajectory planner yields a better solution than the local planner and avoids , |6 l, C: Z' clocal minima.4 C+ N; Q6 }* Y, i" \ h(欢迎访问老王论坛:laowang.vip)