8/19/2019 mamdami

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1. If (distanceFront is low) and (turn is left) then (steer is moreLeft) (1)

2. If (distanceFront is medium) and (turn is left) then (steer is left) (1)

3. If (distanceFront is large) and (turn is left) then (steer is left) (1)

4. If (distanceFront is low) and (turn is right) then (steer is moreRight) (1)

5. If (distanceFront is medium) and (turn is right) then (steer is right) (1)

6. If (distanceFront is large) and (turn is right) then (steer is right) (1)

7. If (distanceFrontLeftDiagonal is small) then (steer is moreRight) (1)

8. If (distanceFrontLeftDiagonal is medium) then (steer is right) (1)

9. If (distanceFrontRightDiagonal is small) then (steer is moreLeft) (1)

10. If (distanceFrontRightDiagonal is medium) then (steer is left) (1)

11. If (angleGoal is negative) and (distanceGoal is low) then (steer is moreLeft) (1)

12. If (angleGoal is moreNegative) and (distanceGoal is low) then (steer is moreLeft) (1)

13. If (angleGoal is no) and (distanceGoal is low) then (steer is no) (1)

14. If (angleGoal is positive) and (distanceGoal is low) then (steer is moreRight) (1)

Connection

and

or 

Weight:

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lowmedium

large

none

distanceFront is

If 

not

smallmedium

none

distanceFrontLeftDiagon

 

and

not

smallmedium

none

distanceFrontRightDiago

 

and

not

negativeno

positive

moreNegative

morePositive

none

angleGoal is

and

not

leftright

none

turn is

and

not

l