Motion Planning of Autonomous Mobile Robot Using Recurrent Fuzzy Neural Network Trained by Extended Kalman Filter

Table 5

Information of trajectories.

	Distance (m)	Step	Cost	Terminal error
1	9.936	76	0.091	0.439
2	14.72	87	0.059	0.483
3	9.866	96	0.022	0.402
4	10.01	74	0.038	0.221
5	12.13	62	0.129	0.471
6	9.744	75	0.102	0.384
7	10.15	78	0.067	0.331
8	9.683	58	1.342	0.369
9	10.36	50	0.089	0.463
10	9.957	65	0.011	0.451