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IT2_avoidance.t2fis
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[System]
Name='avoidanceT2'
Type='sugeno'
Version=2.0
NumInputs=3
NumOutputs=2
NumRules=9
AndMethod='prod'
OrMethod='probor'
ImpMethod='prod'
AggMethod='sum'
DefuzzMethod='wtaver'
TypeRedMethod='Karnik-Mendel'
[Input1]
Name='left'
Range=[0 85]
NumMFs=3
MF1U='CloseU':'trimf',[-34 0 34 1]
MF1L='CloseL':'trimf',[-25.5 0 25.5 0.6]
MF2U='AverageU':'trimf',[8.5 30 80 1]
MF2L='AverageL':'trimf',[17 30 65 0.5]
MF3U='FarU':'trimf',[30 85 100 1]
MF3L='FarL':'trimf',[50 85 100 0.5]
[Input2]
Name='middle'
Range=[0 85]
NumMFs=3
MF1U='CloseU':'trimf',[-34 0 34 1]
MF1L='CloseL':'trimf',[-25.5 0 25.5 0.6]
MF2U='AverageU':'trimf',[8.5 30 80 1]
MF2L='AverageL':'trimf',[17 30 65 0.5]
MF3U='FarU':'trimf',[30 85 100 1]
MF3L='FarL':'trimf',[50 85 100 0.5]
[Input3]
Name='right'
Range=[0 85]
NumMFs=3
MF1U='CloseU':'trimf',[-34 0 34 1]
MF1L='CloseL':'trimf',[-25.5 0 25.5 0.6]
MF2U='AverageU':'trimf',[8.5 30 80 1]
MF2L='AverageL':'trimf',[17 30 65 0.5]
MF3U='FarU':'trimf',[30 85 100 1]
MF3L='FarL':'trimf',[50 85 100 0.5]
[Output1]
Name='RotationCorrection'
CrispInterval='interval'
Range=[-100 100]
NumMFs=5
MF1='BN':'constant',[-70 -100]
MF2='SN':'constant',[-15 -30]
MF3='Z':'constant',[0 0]
MF4='SP':'constant',[30 15]
MF5='BP':'constant',[100 70]
[Output2]
Name='IsTranslation'
CrispInterval='interval'
Range=[-1 1]
NumMFs=2
MF1='false':'constant',[0 0.2]
MF2='true':'constant',[0.8 1]
[Rules]
3 3 3, 3 2 (1) : 1
2 3 3, 2 2 (1) : 1
3 3 2, 4 2 (1) : 1
-1 2 -1, 5 1 (1) : 1
1 2 2, 1 2 (1) : 1
2 2 1, 5 2 (1) : 1
3 3 1, 4 2 (1) : 1
1 3 3, 2 2 (1) : 1
0 1 0, 5 1 (1) : 1