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Table 1 Simulation condition

From: Probabilistic double guarantee kidnapping detection in SLAM

Condition

Value

Robot speed

0.3 m/s

Control cycle

0.2 s

Observation cycle

0.2 s

Max range of observation

3 m

Variance of speed noise

0.09 m/s

Variance of orientation noise

9°

Variance of observation position noise

0.01 m

Variance of observation angle noise

1°