An Improved AMCL Algorithm Based on Laser Scanning Match in a Complex and Unstructured Environment

Table 2

Result of closed-loop motion experiments (open-loop version).

Robot; Origin’s pose	Error of original AMCL			Corresponding scan matching solution error
	/m	/m	/rad	/m	/m	/rad
Experiment 1	0.145	−0.017	0.057	0.009	−0.007	−0.012
Experiment 2	−0.101	−0.065	0.015	−0.014	−0.012	−0.009
Experiment 3	0.052	−0.185	−0.032	0.015	−0.016	0.008
|Maximum|	0.145	0.185	0.057	0.015	0.016	0.012
|Minimum|	0.052	0.017	0.015	0.009	0.007	0.008
|Mean|	0.099	0.089	0.035	0.013	0.012	0.010