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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");
}