An Adaptive Unscented Particle Filter Algorithm through Relative Entropy for Mobile Robot Self-Localization

Table 3

Experiment results of AUPF, PF, and UPF.

Algorithm	AUPF	PF	UPF
MRPE	9.62	18.91	7.86
Average run time (ms)	3.396	2.262	4.635
Average number of particles	298	400	400