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

Figure 8

GMM’s online updating.

(a) Translating the table

(b) Updating GMM for table’ translation

(c) Rotating the table

(d) Updating GMM for table’ rotation

(e) Translating the robot

(f) Updating GMM for robot’ translation

(g) Rotating the robot

(h) Updating GMM for robot’ rotation