Assuming perfect knowledge of the environment while designing the trajectory, the ( ~0 \& E& f$ Y! v; Oglobal trajectory planner yields a better solution than the local planner and avoids% w5 H- g% p7 N( G(欢迎访问老王论坛:laowang.vip)
local minima.& A2 v7 M9 _& X6 U+ M(欢迎访问老王论坛:laowang.vip)