Assuming perfect knowledge of the environment while designing the trajectory, the [: c; O# v$ s9 aglobal trajectory planner yields a better solution than the local planner and avoids 9 q" S7 W. @, B% alocal minima.% E) L R; f0 {/ p+ E5 f4 N( c1 F(欢迎访问老王论坛:laowang.vip)