Evolving Controllers for a Transformable Wheel Mobile Robot

Figure 7

Left and right wheel speeds and strut extension amounts for the best evolved solutions for FSM-0-1 (a) and ANN-0-1 (b). The left vertical axis shows values for wheel speeds (the solid red line and the dash-dot blue line), and the right vertical axis shows the scale for wheel strut extension amounts (the orange dashed line).

(a)

(b)