Table 4.

Performance Metric Definition Table.

Metric	Definition
Path	Constructed by the list of poses. While the robot moves from one pose to the next, all poses are considered as waypoints that define the path.
Path keeping	For all waypoint poses listed by the path planner except the last waypoint should be maintained at 0.4 m.
Docking	The final step is where the system positions itself at the final waypoint for the docking procedure. For the waypoint pose listed by the path planner should bw maintained at 0.2 m.