Evolving Controllers for a Transformable Wheel Mobile Robot

Figure 13

Heat-maps showing the relationship between input and output for the left wheels of the best evolved ANN. A light shade indicates that the wheel is at its maximum forward rate, and a dark color indicates that it is at its maximal reverse rate. All input and output values are scaled between 0 and 1. Outputs area only shown for the left wheel has it was the only ANN output that exhibited a variety of different values.