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Diffstat (limited to 'examples/hybrid/ObstacleAvoidance.fll')
-rw-r--r-- | examples/hybrid/ObstacleAvoidance.fll | 43 |
1 files changed, 43 insertions, 0 deletions
diff --git a/examples/hybrid/ObstacleAvoidance.fll b/examples/hybrid/ObstacleAvoidance.fll new file mode 100644 index 0000000..970221b --- /dev/null +++ b/examples/hybrid/ObstacleAvoidance.fll @@ -0,0 +1,43 @@ +Engine: ObstacleAvoidance +InputVariable: obstacle + enabled: true + range: 0.000 1.000 + lock-range: false + term: left Ramp 1.000 0.000 + term: right Ramp 0.000 1.000 +OutputVariable: mSteer + enabled: true + range: 0.000 1.000 + lock-range: false + aggregation: Maximum + defuzzifier: Centroid 100 + default: nan + lock-previous: false + term: left Ramp 1.000 0.000 + term: right Ramp 0.000 1.000 +OutputVariable: tsSteer + enabled: true + range: 0.000 1.000 + lock-range: false + aggregation: Maximum + defuzzifier: WeightedAverage Automatic + default: nan + lock-previous: false + term: left Constant 0.333 + term: right Constant 0.666 +RuleBlock: mamdani + enabled: true + conjunction: none + disjunction: none + implication: AlgebraicProduct + activation: General + rule: if obstacle is left then mSteer is right + rule: if obstacle is right then mSteer is left +RuleBlock: takagiSugeno + enabled: true + conjunction: none + disjunction: none + implication: none + activation: General + rule: if obstacle is left then tsSteer is right + rule: if obstacle is right then tsSteer is left
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