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

Figure 5

(a) Test (2): the resulted robot circular motion with left motor 5% desired speed less than the right one. (b) Test (2): robotic system response curves representing robot’s linear speed, angular speed, and curvature. (c) Test (2): robotic system response curves representing robot’s desired and actual linear speeds, right and left wheels 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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