Assuming perfect knowledge of the environment while designing the trajectory, the/ G5 Y6 E4 D/ X' j* I, S1 r3 y4 C4 w; W(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids 2 p( E( s- s/ i0 slocal minima. ) v* m1 y# K3 g7 }( W- ^6 A s2 [