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

Table 3

Security and smoothness indexes for the robot navigation using the RT-HOF and AOC.

Attempt	SM1 (m)	SM2 (m)	SM3 (m)
1	0.7473	1.6509	0.7473	9.7704e−05	1.84e−07	2.4774e−06
2	0.74157	1.6427	0.74157	7.2661e−05	1.5044e−07	1.4464e−06
3	0.85645	1.5416	0.85645	0.00013544	2.7307e−07	3.3304e−06
4	0.76235	1.9285	0.76235	7.6021e−05	1.5483e−07	1.8303e−06
5	0.79618	1.6155	0.79618	0.00010674	2.3408e−07	2.4665e−06
Mean	0.78077	1.6758	0.78077	9.7714e−05	1.9928e−07	2.3102e−06