Evolving Controllers for a Transformable Wheel Mobile Robot

Table 2

Adabot FSM parameters (Hand-Chosen).

Name	Range
	(0.5) 0 to 1
	(0.5) 0 to 1
	(20) 0 to 20 rad s^−1
	(10) 0 to 90°
	(-10) −90 to 0°
	(-20) −20 to 20 rad s^−1
	(20) −20 to 20 rad s^−1
	(5) 0 to 90°
	(20) −20 to 20 rad s^−1
	(-20) −20 to 20 rad s^−1
	(-5) −90 to 0°