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Fuzzy rule base for robot navigation based on both the ultrasonic sensor decision and the image sensor decision
| Rule | Ultrasonic Sensor Decision | Image Sensor Decision | Direction of motion |
|---|---|---|---|
| 1 | Right | Right | Right Turn |
| 2 | Half Right | Right | Half Right |
| 3 | Left | Left | Left Turn |
| 4 | Half Left | Left | Half Left |
| 5 | Forward | Forward | Forward |
