Computational Intelligence and Neuroscience / 2016 / Article / Tab 1

Research Article

Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance

Table 1

The resultant fuzzy rules.

, , , )th fuzzy ruleIFTHEN

NDSASA15.000
MA3.000
LA0.150
MASA3.000
MA0.600
LA0.030
LASA1.050
MA0.210
LA0.011
MDSASA4.500
MA0.900
LA0.045
MASA0.900
MA0.180
LA0.009
LASA0.315
MA0.063
LA0.003
FDSASA0.150
MA0.030
LA0.002
MASA0.030
MA0.006
LA0.000
LASA0.011
MA0.002
LA0.000

Linguistic meanings: ND, near distance; MD, medium distance; FD, far distance; SA, small angle; MA, medium angle; LA, large angle.

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