Remote Teleoperated and Autonomous Mobile Security Robot Development in Ship Environment

Figure 21

Particle filter performance comparison with different particles.

(a)  Particle no. = 50, Sim. T = 12.05 s

(b) Particle no. = 100, Sim. T = 14.73 s

(c) Particle no. = 200, Sim. T = 20.56 s

(d) Particle no. = 400, Sim T = 34.15 s

(e) Particle no. = 800, Sim. T = 76.10 s

(f) Particle no. = 1600, Sim. T = 211.99 s