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

Table 1

Fuzzy rules table for assigning the K_p.

Δe	Error
	NB	NS	ZO	PS	PB
NB	VB	VB	S	S	M
NS	VB	B	S	S	B
ZO	B	M	S	S	VB
PS	M	S	S	M	VB
PB	S	S	S	B	VB