Assuming perfect knowledge of the environment while designing the trajectory, the5 G# K; w. z8 D( e6 W: c(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids + L: {% t* M; j {% L& T! n( I$ c" {local minima. 0 Y0 e* n2 L, n- R) O