Assuming perfect knowledge of the environment while designing the trajectory, the & e. h% Q4 ~9 Tglobal trajectory planner yields a better solution than the local planner and avoids 0 z+ ]& {9 f, d9 R) w& L7 W9 Nlocal minima.- f0 D8 u$ R5 i) f(欢迎访问老王论坛:laowang.vip)