Assuming perfect knowledge of the environment while designing the trajectory, the # a& U! O* ?+ }: d9 y* S4 a; tglobal trajectory planner yields a better solution than the local planner and avoids 0 ^4 V2 Z, j. Q& clocal minima.; s& ^( ~3 _8 s o2 j. L(欢迎访问老王论坛:laowang.vip)