Assuming perfect knowledge of the environment while designing the trajectory, the * D- ~& U9 x0 N. g/ F7 W' Bglobal trajectory planner yields a better solution than the local planner and avoids ; h( l w6 I- j0 ?local minima. E5 z0 h8 W6 i! A0 T( l/ L(欢迎访问老王论坛:laowang.vip)