TABLE 2.

The configuration parameters used for running AMCL.

Param	Value
N min_particles	100
N max_particles	50,000
N kld_err	0.01
N update_min_d	0.10
N update_min_a	0.20
N resample_interval	2
N transform_tolerance	0.1
N recovery_alpha_slow	0.0
N recovery_alpha_fast	0.0
N laser_max_range	LiDAR value (30)
N laser_max_beams	30
N laser_z_hit	0.95
N laser_z_short	0.1
N laser_z_ max	0.05
N laser_z_rand	0.05
N laser_sigma_hit	0.2
N laser_lambda_short	0.1
N laser_likelihood_max_dist	2.0
N laser_model_type	likelihood_field
N odom_model_type	omni
N odom_alpha1	0.2
N odom_alpha2	0.2
N odom_alpha3	0.2
N odom_alpha4	0.2