Figure 4
From: Mobile sailing robot for automatic estimation of fish density and monitoring water quality
Changes in the error value δ p and δ f as a function of percentage changes of the surface covered by sonar. (a) Changes in the value of the measurement error of the number of fish δ f as a function of percentage changes of the surface covered by sonar (green line - an ideal course, red - simulation result); (b) Changes in the error value δ p as a function of percentage changes of the surface covered by sonar p f for a variable number of clusters s in the range from 1 to 60 (the colors indicate charts for the subsequent number of clusters s).