An Improved AMCL Algorithm Based on Laser Scanning Match in a Complex and Unstructured Environment

Table 1

Result of straight line round-trip motion experiments.

Robot; Origin’s pose	Error of original AMCL			Error of open-loop version of improved AMCL
	/m	/m	/rad	/m	/m	/rad
Starting point	0.014	0.011	−0.004	−0.019	−0.014	−0.009
Endpoint 1	0.053	0.032	−0.024	0.006	−0.006	−0.014
Endpoint 2	0.052	0.014	−0.004	0.002	−0.008	0.003
Endpoint 3	0.051	0.009	−0.027	0.009	−0.014	−0.011
Endpoint 4	0.042	−0.010	−0.018	−0.018	−0.011	0.001
Endpoint 5	0.055	−0.028	0.006	0.004	−0.017	−0.007
Endpoint 6	0.049	−0.005	−0.016	−0.019	−0.010	0.000
Endpoint 7	0.043	0.030	−0.007	0.016	−0.010	0.008
Endpoint 8	0.027	0.014	−0.003	−0.020	−0.008	−0.007
Endpoint 9	0.018	0.000	0.016	−0.020	−0.013	−0.011
Endpoint 10	−0.015	−0.018	−0.002	−0.009	−0.008	−0.004
Endpoint 11	−0.026	0.001	−0.008	−0.007	−0.007	−0.021
Endpoint 12	−0.038	0.000	0.013	−0.010	−0.004	−0.020
|Maximum|	0.055	0.032	0.027	0.020	0.017	0.021
|Minimum|	0.015	0.000	0.002	0.002	0.004	0.000
|Mean|	0.039	0.013	0.012	0.012	0.010	0.009