Comparative Study of Two Localization Approaches for Mobile Robots in an Indoor Environment

Table 4

The mean of the trials with the EKF (one landmark and non-Gaussian noise).

Trials	T1	T2	T3	T4	T5	T6	T7	T8	T9	T10	Mean
ex (m)	43.81	0.366	21.35	53.90	21.96	1.88	10.93	38.57	3.57	113.51	21.81
ey (m)	57.24	0.424	20.81	93.37	17.07	1.55	20.22	49.74	3.51	109.60	29.32
eθ (deg)	7.73	0.085	2.80	10.74	2.41	0.225	1.94	6.80	0.485	16.72	3.69
Time (sec)	0.018	0.010	0.008	0.019	0.012	0.016	0.012	0.015	0.014	0.015	0.013 s

Note that the result obtained in the 10^th trial has been discarded since it is considered an outlier value. To improve the accuracy of the filter, another landmark is added in the space environment with a different position than the first one.