Table 5.

The position, orientation, and velocities of the robot in a simple environment.

Simulation Time in Seconds	Position			Rotation Angle in Degree θ	Left Wheel Velocity	Right Wheel Velocity
	x	y	z
5	0.34	0.05	1.24	−92.24	270.24	229.76
22	0.08	0.05	1.26	−165.58	−200.65	400.23
30	0.03	0.05	1.33	−100.87	200.65	189.44
38	−0.06	0.05	1.34	−36.04	305.34	−199.72
41	−0.14	0.05	1.24	−101.62	213.16	286.84