A Joint Data Association Method for Laser-SLAM of Unmanned Delivery Vehicle Based on Heuristic Search Algorithm

Table 2

Parameter setting.

Parameter	Value
Vehicle speed	3 m/s
Maximum steering angle	30°
Maximum range	30 m
Control noise	(0.3 m/s, 3°)
Measurement noise	(0.1 m, 1°)
Control frequency	40 Hz
Confidence level	0.95
Measurement frequency	5 Hz