A Robot SLAM Improved by Quantum-Behaved Particles Swarm Optimization

Table 1

Computational cost and estimation errors.

Number of particles	RMSE of estimated positions (m)		Processing time (s)
	PSO-FastSLAM	QPSO-FastSLAM	PSO-FastSLAM	QPSO-FastSLAM
10	0.61	0.49	15.9	16.8
20	0.52	0.44	28.3	30.1
30	0.45	0.36	43.4	46.5
100	0.32	0.28	134.8	140.6