Table 2.

Calculations for acceleration direction.

Rule No.	Obstacle Distance	Obstacle Direction	Target Direction	Acceleration Direction	Member Ship Function Values (MFs Values)	Min. Value Of MFs (Mi)	Singleton Value for Acceleration Direction (Si2)	Mi × Si2
R1	Very near	Fwd	Back	Move Back	y1^y3^y5	0.4	0.025	0.01
R2	Very near	Fwd	Stop	Stop	y1^y3^y6	0.52	0	0
R3	Near	Back	Right	Move right	y1^y4^y5	0.18	−0.05	−0.009
R4	Near	Back	Fwd	Move fwd	y1^y4^y6	0.18	−0.025	−0.0045
R5	Middle	Right	Back	Move back	y2^y3^y5	0.4	0.025	0.01
R6	Middle	Right	Stop	Stop	y2^y3^y6	0.48	0	0
R7	Far	Back	Left	Move left	y2^y4^y5	0.18	0.05	0.009
R8	Far	Left	Back	Move back	y2^y4^y6	0.18	0.025	0.0045