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Robot Motion Planning Method Based on Incremental High-Dimensional Mixture Probabilistic Model
Joint Authors
Zha, Fusheng
Liu, Yizhou
Wang, Xin
Chen, Fei
Li, Jingxuan
Guo, Wei
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-11-01
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
The sampling-based motion planner is the mainstream method to solve the motion planning problem in high-dimensional space.
In the process of exploring robot configuration space, this type of algorithm needs to perform collision query on a large number of samples, which greatly limits their planning efficiency.
Therefore, this paper uses machine learning methods to establish a probabilistic model of the obstacle region in configuration space by learning a large number of labeled samples.
Based on this, the high-dimensional samples’ rapid collision query is realized.
The influence of number of Gaussian components on the fitting accuracy is analyzed in detail, and a self-adaptive model training method based on Greedy expectation-maximization (EM) algorithm is proposed.
At the same time, this method has the capability of online updating and can eliminate model fitting errors due to environmental changes.
Finally, the model is combined with a variety of sampling-based motion planners and is validated in multiple sets of simulations and real world experiments.
The results show that, compared with traditional methods, the proposed method has significantly improved the planning efficiency.
American Psychological Association (APA)
Zha, Fusheng& Liu, Yizhou& Wang, Xin& Chen, Fei& Li, Jingxuan& Guo, Wei. 2018. Robot Motion Planning Method Based on Incremental High-Dimensional Mixture Probabilistic Model. Complexity،Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1134109
Modern Language Association (MLA)
Zha, Fusheng…[et al.]. Robot Motion Planning Method Based on Incremental High-Dimensional Mixture Probabilistic Model. Complexity No. 2018 (2018), pp.1-14.
https://search.emarefa.net/detail/BIM-1134109
American Medical Association (AMA)
Zha, Fusheng& Liu, Yizhou& Wang, Xin& Chen, Fei& Li, Jingxuan& Guo, Wei. Robot Motion Planning Method Based on Incremental High-Dimensional Mixture Probabilistic Model. Complexity. 2018. Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1134109
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1134109