Assuming perfect knowledge of the environment while designing the trajectory, the" {" \1 c$ e/ I0 t(欢迎访问老王论坛:laowang.vip)
global trajectory planner yields a better solution than the local planner and avoids' }' C3 p+ B! Y, b(欢迎访问老王论坛:laowang.vip)
local minima. # {! m, ~7 l5 Y* i5 }