Table 3 Localization error of experiment 2(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) | (-0.098, -0.590) | (0.32, 1.56) | (m) |
| Â | Pose | 0.154 | 0.28 | (rad) |
Self-localization using only DOA | Location (x axis, y axis) | (1660, -2360) | (6300, 18900) | (m) |
| Â | Pose | -0.046 | 0.65 | (rad) |
Proposed Method | Location (x axis, y axis) | (0.045, -0.088) | (0.18, 0.23) | (m) |
| Â | Pose | -0.029 | 0.26 | (rad) |