Assuming perfect knowledge of the environment while designing the trajectory, the " D8 ]2 i. c$ H/ P$ Bglobal trajectory planner yields a better solution than the local planner and avoids 8 k. T' L/ N& n) o' plocal minima.( J5 _5 t* G7 l* Q! Q* u7 A0 t(欢迎访问老王论坛:laowang.vip)