An Improved EKF-SLAM for Mars Surface Exploration

Table 1

The simulation parameters.

Name	Value
Sampling period	0.2 s
The number of feature points in the map	200
The radius of the wheel	0.3 m
The initial position of the rover
The SD of RN of the accelerometer
The SD of RN of the gyroscope
The SD of RN of the measuring length	1.0 m
The SD of RN of the measuring azimuth	3°
The SD of RN of the control stick	3°
Sensor frequency of the IMU	20 Hz
Sensor frequency of the camera	0.5 Hz
Simulation time	400 s

Note: SD denotes standard deviation; RN denotes random noise.