Assuming perfect knowledge of the environment while designing the trajectory, the 3 G2 v% d' c" f r0 Pglobal trajectory planner yields a better solution than the local planner and avoids % m1 C4 _# G: m: a$ Ulocal minima.: x1 t3 R+ T0 v, `7 a% n(欢迎访问老王论坛:laowang.vip)