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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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