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

<table class="table-group" id="tab7"><tr><td><table class="table"><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center">Platform curvature</td><td class="align_center">Platform turning radius</td><td class="align_center">Left wheel curvature</td><td class="align_center">Right wheel curvature</td><td class="align_center">Robot orientation direction</td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td class="align_left">Test (1)</td><td class="align_center">0</td><td class="align_center">Inf</td><td class="align_center">Inf</td><td class="align_center">Inf</td><td class="align_center">0</td></tr><tr><td class="align_left">Test (2)</td><td class="align_center">−0.1282</td><td class="align_center">−7.799</td><td class="align_center">−7.999</td><td class="align_center">−7.5999</td><td class="align_center">−0.326</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Testing results, overall mobile robotic platform (2).</div>

Computational Intelligence and Neuroscience

tab7

Table 7

Table 7: Artificial Fuzzy-PID Gain Scheduling Algorithm Design for Motion Control in Differential Drive Mobile Robotic Platforms 