Assuming perfect knowledge of the environment while designing the trajectory, the+ q( r7 D( e6 G9 Y' j(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids ; M1 {. {% M1 z+ e+ k7 {local minima. 4 f1 q7 j- l' }! y1 G# u! m