Assuming perfect knowledge of the environment while designing the trajectory, the 6 C7 c* b7 M8 b6 I6 N* pglobal trajectory planner yields a better solution than the local planner and avoids ( _) |. G* V6 w2 |& H7 _local minima. 1 o0 f/ ]2 ^# u. A+ N& c8 { O5 N