Assuming perfect knowledge of the environment while designing the trajectory, the: ~* v- Y7 k7 }2 \: W2 z(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids" }7 G1 c, A$ I4 q(欢迎访问老王论坛:laowang.vip)
local minima.% I) l) b. N! P# H4 K; o(欢迎访问老王论坛:laowang.vip)