Table 4 Localization error of experiment 3(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) | (-0.020, -0.49) | (0.128, 1.69) | (m) |
| Â | Pose | 0.096 | 0.24 | (rad) |
Self-localization using only DOA | Location (x axis, y axis) | (620, -530) | (1.17, 470) | (m) |
| Â | Pose | -0.076 | 0.62 | (rad) |
Proposed Method | Location (x axis, y axis) | (0.117, -0.047) | (0.23, 0.20) | (m) |
| Â | Pose | -0.069 | 0.26 | (rad) |