Chinese Journal of Mechanical Engineering

Table 3 Target and actual positions of critical points

From: Mobile Robot Combination Autonomous Behavior Strategy to Inspect Hazardous Gases in Relatively Narrow Man–Machine Environment

Critical point	x_r (m)	y_r (m)	x (m)	y (m)	Position error (m)	Angle error (rad)
1	0	0	0	0	0	0
2	3.431	3.438	3.434	3.451	0.014	0.007
3	0.004	6.862	0.004	6.861	0.001	0
4	− 3.431	3.427	− 3.431	− 3.427	0	0
5	0.002	0	-0.002	0	0	0

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