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

Table 4

Security and smoothness indexes for the robot navigation using the CNN-based estimation method.

Attempt	SM1 (m)	SM2 (m)	SM3 (m)
1	0.4241	1.9076	0.4241	3.5541e−05	4.58e−08	5.5335e−07
2	0.46384	1.9298	0.46384	3.2683e−05	4.3577e−08	5.6792e−07
3	0.37958	1.9096	0.37958	3.7597e−05	4.9339e−08	6.4338e−07
4	0.44578	1.9168	0.44578	3.4012e−05	4.3162e−08	5.6113e−07
5	0.37746	1.909	0.37746	3.0383e−05	3.8754e−08	5.2752e−07
Mean	0.41815	1.9146	0.41815	3.4043e−05	4.4127e−08	5.7066e−07