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

Table 3

Result of closed-loop motion experiments (closed-loop version).

Robot; Origin’s pose	Closed-loop version of improved AMCL algorithm
	Errors of weighted mean solution for particle swarm			Error of scan matching solution
	/m	/m	/rad	/m	/m	/rad
Experiment 1	−0.011	−0.018	−0.017	−0.012	−0.013	−0.032
Experiment 2	−0.024	−0.002	0.001	0.004	−0.006	−0.008
Experiment 3	−0.018	−0.012	0.013	0.005	0.000	0.028
Experiment 4	−0.001	−0.012	−0.008	−0.011	−0.012	−0.006
|Maximum|	0.024	0.018	0.017	0.012	0.013	0.032
|Minimum|	0.001	0.002	0.001	0.004	0.000	0.006
|Mean|	0.014	0.011	0.010	0.008	0.008	0.019