Robot Motion Planning Method Based on Incremental High-Dimensional Mixture Probabilistic Model

Algorithm 1

The Greedy EM Algorithm.

1: function BUILD_GMM

2:INITIAL_GMM

3:while    do

4:RandomSelect

5:

6:

7:

8: AddToGMM

9:GLOBLE_EM

10:end while

11:return  

12: end function

13: function  INITIAL_GMM

14:

15: E

16:Cov

17:GLOBLE_EM

18:return  

19: end function

20: function  ADDToGMM )

21:for    do

22:

23:end for

24:

25:

26:

27:return  

28: end function