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FuzzyRobot.fis
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FuzzyRobot.fis
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[System]
Name='FuzzyRobot'
Type='mamdani'
Version=2.0
NumInputs=2
NumOutputs=1
NumRules=25
AndMethod='min'
OrMethod='max'
ImpMethod='min'
AggMethod='max'
DefuzzMethod='centroid'
[Input1]
Name='R1'
Range=[0 10]
NumMFs=5
MF1='very_close':'trimf',[-2.5 -2.78e-17 1]
MF2='close':'trimf',[0 2.5 5]
MF3='medium':'trimf',[2.5 5 7.5]
MF4='far':'trimf',[5 7.5 10]
MF5='very_far':'trimf',[7.00888192267503 9.50888192267503 12.008881922675]
[Input2]
Name='R2'
Range=[0 10]
NumMFs=5
MF1='very_close':'trimf',[-2.5 -2.78e-17 1]
MF2='close':'trimf',[0 2.5 5]
MF3='medium':'trimf',[2.5 5 7.5]
MF4='far':'trimf',[5 7.5 10]
MF5='very_far':'trimf',[7.009 9.509 12.01]
[Output1]
Name='Rotation'
Range=[-0.392699081698724 0.392699081698724]
NumMFs=3
MF1='left':'trimf',[-0.7854 -0.3928 0]
MF2='forward':'trimf',[-0.3928 0 0.3928]
MF3='right':'trimf',[0 0.3928 0.7854]
[Rules]
1 1, 3 (1) : 1
1 2, 3 (1) : 1
1 3, 3 (1) : 1
1 4, 3 (1) : 1
1 5, 3 (1) : 1
2 1, 1 (1) : 1
2 2, 3 (1) : 1
2 3, 3 (1) : 1
2 4, 3 (1) : 1
2 5, 3 (1) : 1
3 1, 1 (1) : 1
3 2, 1 (1) : 1
3 3, 2 (1) : 1
3 4, 3 (1) : 1
3 5, 3 (1) : 1
4 1, 1 (1) : 1
4 2, 1 (1) : 1
4 3, 1 (1) : 1
4 4, 2 (1) : 1
4 5, 3 (1) : 1
5 1, 1 (1) : 1
5 2, 1 (1) : 1
5 3, 1 (1) : 1
5 4, 1 (1) : 1
5 5, 2 (1) : 1