Assuming perfect knowledge of the environment while designing the trajectory, the + B+ Q7 U- D0 fglobal trajectory planner yields a better solution than the local planner and avoids . ~6 n: E2 d6 X; ?/ A& Qlocal minima.6 {& A* N' Q% a- g5 L(欢迎访问老王论坛:laowang.vip)