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

Table 2

Planning performance of the motion planning algorithms in four scenes.

Average Planning time(s)/Successful Rate(%)	RRT		RRT-Connect		BiEST		KPIECE
	Basic	GMM	Basic	GMM	Basic	GMM	Basic	GMM
Scene 1	32.27/31.2	27.47/72.0	0.971/100	0.530/100	3.425/86.0	1.724/100	4.680/82.3	1.458/100
Scene 2	17.55/90.2	9.759/98.7	0.310/100	0.178/100	1.929/100	0.779/100	1.446/100	0.632/100
Scene 3	16.32/90.3	4.176/100	0.607/100	0.372/100	6.792/70.0	2.056/100	4.128/100	1.605/100
Scene 4	33.20/68.6	7.416/100	0.510/100	0.271/100	3.737/100	0.734/100	3.348/100	1.826/100