Table 3.

Result of different sensor board numbers and position selections from virtual distance sensors.

Number of Sub-Board	Method	Position (Location No.)	Computational Cost	Result
1	Dynamic programming	[0, 1, 2, 3, 4]	24	90.86%
2	ID-CS	[0, 1, 2, 3, 4] & [5, 6, 7, 8, 9]	130	92.07%
	Random selection	[10, 11, 12, 13, 14]& [6, 16, 26, 36, 46, 56, 66]	130	85.32%
	Dynamic programming	[0, 1, 2, 3, 4] & [15, 16, 17, 18, 19]	276	92.49%
3	ID-CS	[0, 1, 2, 3, 4]&[5, 6, 7, 8, 9] &[3, 13, 23, 33, 43, 53, 63]	400	95.23%
	Random selection	[6, 16, 26, 36, 46, 56, 66]& [0, 1, 2, 3, 4, 3]& [13, 23, 33, 43, 53, 63]	400	86.29%
	Dynamic programming	[0, 1, 2, 3, 4]&[15, 16, 17, 18, 19] &[3, 13, 23, 33, 43, 53, 63]	2024	95.33%