Assuming perfect knowledge of the environment while designing the trajectory, the ! Y5 E0 M$ Z( i: l$ Eglobal trajectory planner yields a better solution than the local planner and avoids# K4 ]9 A( u- s# l' R: M! `(欢迎访问老王论坛:laowang.vip)
local minima. " ]) \( B6 Q$ K. c. t) D. A2 `