Assuming perfect knowledge of the environment while designing the trajectory, the 0 O- `( |( w0 bglobal trajectory planner yields a better solution than the local planner and avoids ) l3 D; v, ^) c. P h3 l' @0 }local minima.2 U/ H$ A5 C* j/ m% @3 U( Z" K(欢迎访问老王论坛:laowang.vip)