my_fuzzy_system.fis

[System]
Name='my_fuzzy_system_hope3'
Type='mamdani'
Version=2.0
NumInputs=2
NumOutputs=1
NumRules=8
AndMethod='min'
OrMethod='max'
ImpMethod='min'
AggMethod='max'
DefuzzMethod='centroid'

[Input1]
Name='obstacle-dist'
Range=[0 400]
NumMFs=3
MF1='far':'smf',[31.2 121.6]
MF2='near':'gaussmf',[5.59 0.245601436265724]
MF3='close-enough':'gaussmf',[14.9 36.6]

[Input2]
Name='target-angle'
Range=[0 180]
NumMFs=3
MF1='headson':'gauss2mf',[18.9 -55.0616740088106 4.01 2.01832599118943]
MF2='opposide':'gauss2mf',[31.8 113.095238095238 1.93 295.095238095238]
MF3='incident':'gaussmf',[20.3 36.65]

[Output1]
Name='speed'
Range=[0 15]
NumMFs=3
MF1='slow':'gaussmf',[0.398813206688577 0.0471]
MF2='fast':'gaussmf',[4.90382229928202 15]
MF3='average':'gaussmf',[3.185 7.5]

[Rules]
1 2, 1 (1) : 1
3 2, -2 (1) : 1
2 1, 1 (1) : 1
1 1, 2 (1) : 1
3 1, 1 (1) : 1
3 3, 3 (1) : 1
1 3, -1 (1) : 1
2 0, 1 (1) : 1