Assuming perfect knowledge of the environment while designing the trajectory, the( h$ m) D! ?1 p( D3 ^: ?(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids 5 m* ^4 A1 q4 [2 |+ Elocal minima.1 U& S8 ?% ~7 w(欢迎访问老王论坛:laowang.vip)