Artificial Fuzzy-PID Gain Scheduling Algorithm Design for Motion Control in Differential Drive Mobile Robotic Platforms

Figure 4

(a) Test (1): the resulted robot straight line motion with linear speed of 0.5 m/s. (b) Test (1): robotic system response curves representing robot’s linear speed, angular speed, and curvature. (c) Test (1): robotic system response curves representing robot’s desired and actual linear speeds, right and left wheel position, and turning radius. (d) Test (1): robotic system response curves representing robot’s orientation direction, and performance indices values in terms of ISE and IAE of both wheels.

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