A Novel Artificial Organic Control System for Mobile Robot Navigation in Assisted Living Using Vision- and Neural-Based Strategies

Table 2

Security and smoothness indexes for the robot navigation using the real-time Hermite OF.

Attempt	SM1 (m)	SM2 (m)	SM3 (m)
1	1.4796	1.3166	0.62518	4.6097e−05	7.8663e−08	1.0344e−06
2	1.4756	1.415	0.7146	4.518e−05	7.4678e−08	1.0005e−06
3	1.6943	1.2665	0.58068	4.9117e−05	7.5448e−08	9.6104e−07
4	1.7563	1.2261	0.54734	4.6815e−05	6.5844e−08	9.2914e−07
5	1.6145	1.364	0.66258	4.471e−05	7.5017e−08	9.8786e−07
Mean	1.6041	1.3176	0.62608	4.6384e−05	7.393e−08	9.8259e−07