Table 1.
Calculations for acceleration.
| Rule No. | Obstacle Distance | Obstacle Direction | Target Direction | Acceleration (a) |
Member Ship Function Values (MFs Values) |
Min. Value of MFs (Mi) |
Singleton Value for Acceleration (Si1) |
Mi × Si1 |
|---|---|---|---|---|---|---|---|---|
| R1 | Very near | Fwd | Back | Keep moving | y1^y3^y5 | 0.4 | 0.01 | 0.004 |
| R2 | Very near | Fwd | Stop | Stop | y1^y3^y6 | 0.52 | 0 | 0 |
| R3 | Near | Back | Right | Keep moving | y1^y4^y5 | 0.18 | 0.01 | 0.0018 |
| R4 | Near | Back | Fwd | Keep moving | y1^y4^y6 | 0.18 | 0.01 | 0.0018 |
| R5 | Middle | Right | Back | Keep moving | y2^y3^y5 | 0.4 | 0.01 | 0.004 |
| R6 | Middle | Right | Stop | Stop | y2^y3^y6 | 0.48 | 0 | 0 |
| R7 | Far | Back | Left | Keep moving | y2^y4^y5 | 0.18 | 0.01 | 0.0018 |
| R8 | Far | Left | Back | Keep moving | y2^y4^y6 | 0.18 | 0.01 | 0.0018 |