Table 2 Localization error of experiment 1(lower is better)
From: Self-localization method for mobile robot using acoustic beacons
Method | Error direction | Mean | Standard deviation | Unit |
|---|---|---|---|---|
Wheel-based odometry | Location (x axis, y axis) | (-0.039, -0.672) | (0.22, 1.54) | (m) |
| Â | Pose | 0.077 | 0.24 | (rad) |
Self-localization using only DOA | Location (x axis, y axis) | (2870, -1920) | (4020, 2790) | (m) |
| Â | Pose | -0.069 | 0.48 | (rad) |
Proposed Method | Location (x axis, y axis) | (0.040, -0.069) | (0.20, 0.20) | (m) |
| Â | Pose | -0.022 | 0.27 | (rad) |