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

Algorithm 2

GMM’s Online Updating.

1: function  UPDATE_GMM

2:

3:

4:

5:while    do

6:RandomSelect

7:

8:

9:

10:AddToGMM

11:GLOBLE_EM()

12:end while

13:Eliminate

14:return  

15: end function