r12: if dr is far and dc is near and dl is near and tr is ls then sa is trs r13: if dr is far and dc is near and dl is near and tr is z then sa is trs r14: if dr is Far and dc is near and dl is near and tr is rs then sa is trB r15: if dr is Far and dc is near and dl is near and tr is rb then sa is trB 移动机器人 机器人接近障碍物时的运动方式示意图 fuzzification Inference aggregation defuzzification 导航角 左方向距离 NEAR input tables rules output tables output 机器人模糊推理器结构 PDF文件使用" pdffactory Pro"试用版本创建ww. fineprint,com,cnr12: if dr is FAR and dc is NEAR and dl is NEAR and tr is LS then sa is TRS; r13: if dr is FAR and dc is NEAR and dl is NEAR and tr is Z then sa is TRS; r14: if dr is FAR and dc is NEAR and dl is NEAR and tr is RS then sa is TRB; r15: if dr is FAR and dc is NEAR and dl is NEAR and tr is RB then sa is TRB. 机器人接近障碍物时的运动方式示意图 机器人模糊推理器结构 PDF 文件使用 "pdfFactory Pro" 试用版本创建 www.fineprint.com.cn