public AddVariable ( |
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variable | A linguistic variable to add. | |
return | void |
// Hardcode initializing the Fuzzy Inference System void InitFuzzyEngine() { // Linguistic labels (fuzzy sets) that compose the distances FuzzySet fsNear = new FuzzySet("Near", new TrapezoidalFunction(15, 50, TrapezoidalFunction.EdgeType.Right)); FuzzySet fsMedium = new FuzzySet("Medium", new TrapezoidalFunction(15, 50, 60, 100)); FuzzySet fsFar = new FuzzySet("Far", new TrapezoidalFunction(60, 100, TrapezoidalFunction.EdgeType.Left)); // Right Distance (Input) LinguisticVariable lvRight = new LinguisticVariable("RightDistance", 0, 120); lvRight.AddLabel(fsNear); lvRight.AddLabel(fsMedium); lvRight.AddLabel(fsFar); // Left Distance (Input) LinguisticVariable lvLeft = new LinguisticVariable("LeftDistance", 0, 120); lvLeft.AddLabel(fsNear); lvLeft.AddLabel(fsMedium); lvLeft.AddLabel(fsFar); // Front Distance (Input) LinguisticVariable lvFront = new LinguisticVariable("FrontalDistance", 0, 120); lvFront.AddLabel(fsNear); lvFront.AddLabel(fsMedium); lvFront.AddLabel(fsFar); // Linguistic labels (fuzzy sets) that compose the angle FuzzySet fsVN = new FuzzySet("VeryNegative", new TrapezoidalFunction(-40, -35, TrapezoidalFunction.EdgeType.Right)); FuzzySet fsN = new FuzzySet("Negative", new TrapezoidalFunction(-40, -35, -25, -20)); FuzzySet fsLN = new FuzzySet("LittleNegative", new TrapezoidalFunction(-25, -20, -10, -5)); FuzzySet fsZero = new FuzzySet("Zero", new TrapezoidalFunction(-10, 5, 5, 10)); FuzzySet fsLP = new FuzzySet("LittlePositive", new TrapezoidalFunction(5, 10, 20, 25)); FuzzySet fsP = new FuzzySet("Positive", new TrapezoidalFunction(20, 25, 35, 40)); FuzzySet fsVP = new FuzzySet("VeryPositive", new TrapezoidalFunction(35, 40, TrapezoidalFunction.EdgeType.Left)); // Angle LinguisticVariable lvAngle = new LinguisticVariable("Angle", -50, 50); lvAngle.AddLabel(fsVN); lvAngle.AddLabel(fsN); lvAngle.AddLabel(fsLN); lvAngle.AddLabel(fsZero); lvAngle.AddLabel(fsLP); lvAngle.AddLabel(fsP); lvAngle.AddLabel(fsVP); // The database Database fuzzyDB = new Database(); fuzzyDB.AddVariable(lvFront); fuzzyDB.AddVariable(lvLeft); fuzzyDB.AddVariable(lvRight); fuzzyDB.AddVariable(lvAngle); // Creating the inference system IS = new InferenceSystem(fuzzyDB, new CentroidDefuzzifier(1000)); // Going Straight IS.NewRule("Rule 1", "IF FrontalDistance IS Far THEN Angle IS Zero"); // Going Straight (if can go anywhere) IS.NewRule("Rule 2", "IF FrontalDistance IS Far AND RightDistance IS Far AND LeftDistance IS Far THEN Angle IS Zero"); // Near right wall IS.NewRule("Rule 3", "IF RightDistance IS Near AND LeftDistance IS Not Near THEN Angle IS LittleNegative"); // Near left wall IS.NewRule("Rule 4", "IF RightDistance IS Not Near AND LeftDistance IS Near THEN Angle IS LittlePositive"); // Near front wall - room at right IS.NewRule("Rule 5", "IF RightDistance IS Far AND FrontalDistance IS Near THEN Angle IS Positive"); // Near front wall - room at left IS.NewRule("Rule 6", "IF LeftDistance IS Far AND FrontalDistance IS Near THEN Angle IS Negative"); // Near front wall - room at both sides - go right IS.NewRule("Rule 7", "IF RightDistance IS Far AND LeftDistance IS Far AND FrontalDistance IS Near THEN Angle IS Positive"); }