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

Algorithm 3

GMM-based Motion Planner.

Require:   examplars

1: BUILD_GMM

2:

3: while  Distrance(  do

4:RandomSampling()

5:NodeSelection

6:NodeExpansion

7:if     then

8: is collision-free

9:else if    then

10: is collision

11:else

12:FCLCollisionQuery

13:end if

14: end while

15: UPDATE_GMM