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

Figure 11

12-DOF dual-arm robot experiment.(a), (b) The initial and goal state of the planning problem, respectively. (c) The environmental model represented by octree, and the lines represent the trajectory of end effectors. (d) The boxplots of planning time based on GMM and basic collision query method.

(a) Initial state

(b) Goal state

(c) Octree map and trajectory

(d) Boxplots of planning time