Assuming perfect knowledge of the environment while designing the trajectory, the ' ]+ O/ X, y! a$ `" Hglobal trajectory planner yields a better solution than the local planner and avoids ! ^# d7 F& s0 K+ Jlocal minima.7 U) u7 r- @( M2 V8 C(欢迎访问老王论坛:laowang.vip)