Assuming perfect knowledge of the environment while designing the trajectory, the [0 }. D3 N! [0 `global trajectory planner yields a better solution than the local planner and avoids * B7 j8 J: b" k! l, ?3 Olocal minima.3 J5 F/ [4 X" L; N/ l; r(欢迎访问老王论坛:laowang.vip)