Assuming perfect knowledge of the environment while designing the trajectory, the % K6 o3 g2 Y0 K. u( aglobal trajectory planner yields a better solution than the local planner and avoids' q( k3 o3 x* C6 W(欢迎访问老王论坛:laowang.vip)
local minima. - y; c0 W g$ D3 k! ?+ b$ U8 f' _