A Novel Artificial Organic Control System for Mobile Robot Navigation in Assisted Living Using Vision- and Neural-Based Strategies

Table 1

Fuzzy rules of the AOC for mobile robot navigation.

N	N	S
N	N	M
N	N	L
N	Z	S
N	Z	M
N	Z	L
N	P	S
N	P	M
N	P	L
Z	N	S
Z	N	M
Z	N	L
Z	Z	S
Z	Z	M
Z	Z	L
Z	P	S
Z	P	M
Z	P	L
P	N	S
P	N	M
P	N	L
P	Z	S
P	Z	M
P	Z	L
P	P	S
P	P	M
P	P	L