Assuming perfect knowledge of the environment while designing the trajectory, the1 W2 K1 S5 M, u% v. p! E" V(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids ( f1 [' k! b) c! u1 O% L7 N+ R( hlocal minima.: z2 J: W) y0 t9 I5 x) ?* ~(欢迎访问老王论坛:laowang.vip)