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

Table 6

Testing results, overall mobile robotic platform.

	Tuning parameter A	Platform linear speed	Platform angular speed	Left wheel linear speed	Right wheel linear speed	Left wheel angular speed	Right wheel angular speed
Test (1)	0.02765	0.5	0	0.5	0.5	6.667	6.667
Test (2)	0.3	0,4877	−0.062525	0.4752	0.5	6.333	6.667