Table 2.
Outputs of the Neuro-Fuzzy system for test patterns in the case, where a wall is being detected. S1, S2, S3, S4, Id and D are given in millimeters.
| D | S1 | S2 | S3 | S4 | Id | Estimated output | Neuro-Fuzzy output |
|---|---|---|---|---|---|---|---|
| 1,071 | 4,170 | 4,170 | 4,170 | 4,170 | 880 | 0 | -0.0013589 |
| 1,827 | 3,693 | 3,693 | 3,693 | 3,693 | 660 | 0 | -0.0064743 |
| 2,583 | 2,727 | 2,727 | 2,727 | 2,727 | 220 | 0 | 0.00056447 |
| 4,536 | 3,663 | 3,600 | 3,537 | 3,474 | 660 | 0.6 | 0.8715 |
| 5,292 | 2,727 | 2,727 | 2,727 | 2,710 | 220 | 0.15 | 0.042024 |
| 5,796 | 2,403 | 2,340 | 2,277 | 2,214 | 880 | 1 | 1.059 |
| 5,985 | 2,214 | 2,151 | 2,088 | 2,025 | 0 | 0.8 | 0.91389 |
| 6,363 | 1,828 | 1,765 | 1,702 | 1,639 | 220 | 1 | 1.0048 |