Research Article
An Improved AMCL Algorithm Based on Laser Scanning Match in a Complex and Unstructured Environment
Table 2
Result of closed-loop motion experiments (open-loop version).
| Robot Origin’s pose | Error of original AMCL | Corresponding scan matching solution error | /m | /m | /rad | /m | /m | /rad |
| Experiment 1 | 0.145 | −0.017 | 0.057 | 0.009 | −0.007 | −0.012 | Experiment 2 | −0.101 | −0.065 | 0.015 | −0.014 | −0.012 | −0.009 | Experiment 3 | 0.052 | −0.185 | −0.032 | 0.015 | −0.016 | 0.008 |
| |Maximum| | 0.145 | 0.185 | 0.057 | 0.015 | 0.016 | 0.012 | |Minimum| | 0.052 | 0.017 | 0.015 | 0.009 | 0.007 | 0.008 | |Mean| | 0.099 | 0.089 | 0.035 | 0.013 | 0.012 | 0.010 |
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