public static FuzzySet[] CreateFuzzySets(FuzzySetGroupDesc group)
{
FuzzySet[] sets = new FuzzySet[group.Sets.Count];
for (int i = 0; i < group.Sets.Count; i++)
{
FuzzySetDesc desc = group.Sets[i];
sets[i] = new FuzzySet(desc.Name, new PiecewiseLinearFunction(desc.Points));
}
return(sets);
}
public FuzzySetGroupCharts(FuzzySetGroupDesc group)
{
this.Name = group.Name;
float chartMin = group.GetChartMin();
float chartMax = group.GetChartMax();
this.Charts = new List <FuzzySetChart>();
for (int i = 0; i < group.Sets.Count; i++)
{
this.Charts.Add(new FuzzySetChart(group.Sets[i], chartMin, chartMax));
}
}
private void InitFuzz()
{
this.Charts = new List <FuzzySetGroupCharts>();
Database db = new Database();
// fuzzy set to determine perceived distance
FuzzySetGroupDesc distanceGroup = new FuzzySetGroupDesc("Distance");
distanceGroup.Add(new FuzzySetDescLeft("Near", 0.75f, 2.5f));
distanceGroup.Add(new FuzzySetDescMid("Medium", 0.75f, 2.5f, 3, 10));
distanceGroup.Add(new FuzzySetDescRight("Far", 3, 10));
this.Charts.Add(new FuzzySetGroupCharts(distanceGroup));
FuzzySet[] distanceSets = FuzzUtil.CreateFuzzySets(distanceGroup);
db.AddVariable(FuzzUtil.CreateVariable("RightDistance", 0, 10, distanceSets));
db.AddVariable(FuzzUtil.CreateVariable("LeftDistance", 0, 10, distanceSets));
db.AddVariable(FuzzUtil.CreateVariable("FrontDistance", 0, 10, distanceSets));
// fuzzy set to determine heading directions
FuzzySetGroupDesc headingGroup = new FuzzySetGroupDesc("Heading");
headingGroup.Add(new FuzzySetDescLeft("HardLeft", -35, -30));
headingGroup.Add(new FuzzySetDescMid("Left", -35, -30, -20, -15));
headingGroup.Add(new FuzzySetDescMid("SlightLeft", -20, -15, -5, 0));
headingGroup.Add(new FuzzySetDescMid("Straight", -5, -1, 1, 5));
headingGroup.Add(new FuzzySetDescMid("SlightRight", 0, 5, 15, 20));
headingGroup.Add(new FuzzySetDescMid("Right", 15, 20, 30, 35));
headingGroup.Add(new FuzzySetDescRight("HardRight", 30, 35));
this.Charts.Add(new FuzzySetGroupCharts(headingGroup));
FuzzySet[] headingSets = FuzzUtil.CreateFuzzySets(headingGroup);
db.AddVariable(FuzzUtil.CreateVariable("Heading", -50, 50, headingSets));
_inferenceSystem = new InferenceSystem(db, new CentroidDefuzzifier(50));
// if all is clear ahead go for it
_inferenceSystem.NewRule("1", "IF FrontDistance IS Far THEN Heading IS Straight");
// should handle left/right turns
_inferenceSystem.NewRule("2", "IF FrontDistance IS Near AND RightDistance IS Near THEN Heading IS Left");
_inferenceSystem.NewRule("3", "IF FrontDistance IS Near AND LeftDistance IS Near THEN Heading IS Right");
// edge away from walls
_inferenceSystem.NewRule("4", "IF LeftDistance IS Near AND (RightDistance IS Medium OR RightDistance IS Far) THEN Heading IS SlightRight");
_inferenceSystem.NewRule("5", "IF RightDistance IS Near AND (LeftDistance IS Medium OR LeftDistance IS Far) THEN Heading IS SlightLeft");
// attempt to give priority to left turns if both are available?
_inferenceSystem.NewRule("6", "IF FrontDistance IS Near THEN Heading IS Left");
}
