Assuming perfect knowledge of the environment while designing the trajectory, the& S6 T' b1 k' N(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids$ z# [5 q; s8 `$ a- U1 n" l(欢迎访问老王论坛:laowang.vip)
local minima.9 _+ A# Q9 ?% R) h: T7 z0 r1 S(欢迎访问老王论坛:laowang.vip)