Assuming perfect knowledge of the environment while designing the trajectory, the- a- s, L# `$ W9 O, m4 l+ j. {- p4 i(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids* G% d( W+ i' T8 } o: l/ ^4 O8 Y(欢迎访问老王论坛:laowang.vip)
local minima. k V' ?( i; x+ l6 f3 u( j