Assuming perfect knowledge of the environment while designing the trajectory, the 2 u; Q- I w7 Oglobal trajectory planner yields a better solution than the local planner and avoids 6 Q, `) B4 ? P" U( V9 ~) clocal minima.5 O) D7 u8 n$ w6 d) ?+ {3 c(欢迎访问老王论坛:laowang.vip)