avoidance_engine = fl.Engine(
name='collision_avoidance',
description=''
)
avoidance_engine.input_variables = [
fl.InputVariable(
name='Left_Laser',
description='',
enabled=True,
minimum=0.0, # The true range_min specified in sensor_msgs/LaserScan is ~0.1
maximum=5.0,
lock_range=True,
terms=[
# Ramp is defined so that start is the bottom of ramp and end is the top
fl.Ramp('near', .75, 0),
fl.Triangle('medium', .5, 2.5, 3.75),
fl.Ramp('far', 2.5, 5)
]
),
fl.InputVariable(
name='Right_Laser',
description='',
enabled=True,
minimum=0.0,
maximum=5.0,
lock_range=True,
terms=[
fl.Ramp('near', .75, 0),
fl.Triangle('medium', .5, 2.5, 3.75),
fl.Ramp('far', 2.5, 5)
]
)
]
engine.output_variables = [
fl.OutputVariable(
name="Ramps",
description="",
enabled=True,
minimum=0.000,
maximum=1.000,
lock_range=False,
aggregation=None,
defuzzifier=fl.WeightedAverage("Automatic"),
lock_previous=False,
terms=[
fl.Ramp("b", 0.600, 0.400),
fl.Ramp("a", 0.000, 0.250),
fl.Ramp("c", 0.700, 1.000)
]
),
fl.OutputVariable(
name="Sigmoids",
description="",
enabled=True,
minimum=0.020,
maximum=1.000,
lock_range=False,
aggregation=None,
defuzzifier=fl.WeightedAverage("Automatic"),
lock_previous=False,
terms=[
import fuzzylite as fl
engine = fl.Engine(name="ObstacleAvoidance", description="")
engine.input_variables = [
fl.InputVariable(
name="obstacle",
description="",
enabled=True,
minimum=0.000,
maximum=1.000,
lock_range=False,
terms=[fl.Ramp("left", 1.000, 0.000),
fl.Ramp("right", 0.000, 1.000)])
]
engine.output_variables = [
fl.OutputVariable(
name="mSteer",
description="",
enabled=True,
minimum=0.000,
maximum=1.000,
lock_range=False,
aggregation=fl.Maximum(),
defuzzifier=fl.Centroid(100),
lock_previous=False,
terms=[fl.Ramp("left", 1.000, 0.000),
fl.Ramp("right", 0.000, 1.000)]),
fl.OutputVariable(
name="tsSteer",
description="",
enabled=True,
import fuzzylite as fl
engine = fl.Engine(name="AllTerms", description="")
engine.input_variables = [
fl.InputVariable(name="AllInputTerms",
description="",
enabled=True,
minimum=0.000,
maximum=6.500,
lock_range=False,
terms=[
fl.Sigmoid("A", 0.500, -20.000),
fl.ZShape("B", 0.000, 1.000),
fl.Ramp("C", 1.000, 0.000),
fl.Triangle("D", 0.500, 1.000, 1.500),
fl.Trapezoid("E", 1.000, 1.250, 1.750, 2.000),
fl.Concave("F", 0.850, 0.250),
fl.Rectangle("G", 1.750, 2.250),
fl.Discrete("H", [
2.000, 0.000, 2.250, 1.000, 2.500, 0.500, 2.750,
1.000, 3.000, 0.000
]),
fl.Gaussian("I", 3.000, 0.200),
fl.Cosine("J", 3.250, 0.650),
fl.GaussianProduct("K", 3.500, 0.100, 3.300, 0.300),
fl.Spike("L", 3.640, 1.040),
fl.Bell("M", 4.000, 0.250, 3.000),
fl.PiShape("N", 4.000, 4.500, 4.500, 5.000),
fl.Concave("O", 5.650, 6.250),
fl.SigmoidDifference("P", 4.750, 10.000, 30.000,
5.250),
fl.Triangle("left", 0.000000000, 0.333000000, 0.666000000),
fl.Triangle("right", 0.333000000, 0.666000000, 1.000000000)
])
engine.input_variables = [obstacle]
steer = fl.OutputVariable(name="steer",
description="direction to steer the vehicle to",
enabled=True,
minimum=0.000000000,
maximum=1.000000000,
lock_range=False,
aggregation=fl.Maximum(),
defuzzifier=fl.Centroid(100),
lock_previous=False,
terms=[
fl.Ramp("left", 1.000000000, 0.000000000),
fl.Ramp("right", 0.000000000, 1.000000000)
])
engine.output_variables = [steer]
steer_away = fl.RuleBlock(
name="steer_away",
description="steer away from obstacles",
enabled=True,
conjunction=None,
disjunction=None,
implication=fl.Minimum(),
activation=fl.General(),
rules=[
fl.Rule.parse("if obstacle is left then steer is right"),
fl.Rule.parse("if obstacle is right then steer is left")
fusion_engine = fl.Engine(
name='fusion',
description=''
)
fusion_engine.input_variables = [
fl.InputVariable(
name='Position_Measure',
description='',
enabled=True,
minimum=0,
maximum=2,
lock_range=True,
terms=[
fl.Ramp('small', .2, 0),
fl.Trapezoid('medium', .1, .25, .3, .4),
fl.Ramp('large', .35, 2)
]
),
fl.InputVariable(
name='Min_Laser',
description='',
enabled=True,
minimum=0,
maximum=5.0,
lock_range=True,
terms=[
fl.Ramp('very_small', .05, 0),
fl.Trapezoid('small', .04, .1, .25, .35),
fl.Trapezoid('medium', .3, 1, 2, 3.5),