Assuming perfect knowledge of the environment while designing the trajectory, the: W% c U- L1 Z4 }+ j% {. d(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids( e. o$ E) @* h1 H% l; ^ d(欢迎访问老王论坛:laowang.vip)
local minima. 6 j# w$ P5 _' i/ J