Assuming perfect knowledge of the environment while designing the trajectory, the ( T" V/ {( }# d* k- _( `$ C0 ~! `global trajectory planner yields a better solution than the local planner and avoids 9 B2 ]) R$ [. o/ Qlocal minima.8 B: B! |2 H1 M; X- G(欢迎访问老王论坛:laowang.vip)