131 lines
6.1 KiB
Plaintext
131 lines
6.1 KiB
Plaintext
/*
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Robot controller.
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References:
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"Learning Weighted LinguIStic Rules to Control an Autonomous Robot"
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, M. Mucientes, R. Alcala , J. Alcala-Fdez, J. Casillas
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Pablo Cingolani
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pcingola@users.sourceforge.net
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*/
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FUNCTION_BLOCK robot
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VAR_INPUT
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rd : REAL; // Right dIStance
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dq : REAL; // DIStance quotient
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o : REAL; // Orientation. Note: I cannot use 'or' (like the reference paper) because it IS a reserved word in FCL
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v : REAL; // Velocity
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END_VAR
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VAR_OUTPUT
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la : REAL; // Linear acceleration
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av : REAL; // Angular velocity
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END_VAR
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FUZZIFY rd
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TERM L := TRIAN 0 0 1;
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TERM M := TRIAN 0 1 2;
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TERM H := TRIAN 1 2 3;
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TERM VH := TRIAN 2 3 3;
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END_FUZZIFY
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FUZZIFY dq
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TERM L := TRIAN 0 0 2;
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TERM H := TRIAN 0 2 2;
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END_FUZZIFY
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FUZZIFY o
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TERM HL := TRIAN -45 -45 -22.5;
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TERM LL := TRIAN -45 -22.5 0;
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TERM Z := TRIAN -22.5 0 22.5;
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TERM LR := TRIAN 0 22.5 45;
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TERM HR := TRIAN 22.5 45 45;
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END_FUZZIFY
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FUZZIFY v
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TERM L := TRIAN 0 0 1;
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TERM H := TRIAN 0 1 1;
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END_FUZZIFY
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DEFUZZIFY la
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TERM VHB := TRIAN -1 -1 -0.75;
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TERM HB := TRIAN -1 -0.75 -0.5;
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TERM MB := TRIAN -0.75 -0.5 -0.25;
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TERM SB := TRIAN -0.5 -0.25 0;
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TERM Z := TRIAN -0.25 0 0.25;
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TERM SA := TRIAN 0 0.25 0.5;
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TERM MA := TRIAN 0.25 0.5 0.75;
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TERM HA := TRIAN 0.5 0.75 1;
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TERM VHA := TRIAN 0.75 1 1;
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METHOD : COG;
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DEFAULT := 0;
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END_DEFUZZIFY
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DEFUZZIFY av
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TERM VHR := TRIAN -1 -1 -0.75;
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TERM HR := TRIAN -1 -0.75 -0.5;
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TERM MR := TRIAN -0.75 -0.5 -0.25;
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TERM SR := TRIAN -0.5 -0.25 0;
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TERM Z := TRIAN -0.25 0 0.25;
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TERM SL := TRIAN 0 0.25 0.5;
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TERM ML := TRIAN 0.25 0.5 0.75;
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TERM HL := TRIAN 0.5 0.75 1;
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TERM VHL := TRIAN 0.75 1 1;
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METHOD : COG;
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DEFAULT := 0;
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END_DEFUZZIFY
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RULEBLOCK rules
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AND : MIN; // Use 'min' for 'AND' (also implicit use 'max' for 'or' to fulfill DeMorgan's Law)
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ACT : MIN; // Use 'min' activation method
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ACCU : MAX; // Use 'max' accumulation method
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RULE 01: IF rd IS L AND dq IS L AND o IS LL AND v IS L THEN la IS VHB , av IS VHR WITH 0.4610;
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RULE 02: IF rd IS L AND dq IS L AND o IS LL AND v IS H THEN la IS VHB , av IS VHR WITH 0.4896;
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RULE 03: IF rd IS L AND dq IS L AND o IS Z AND v IS L THEN la IS Z , av IS MR WITH 0.6664;
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RULE 04: IF rd IS L AND dq IS L AND o IS Z AND v IS H THEN la IS HB , av IS SR WITH 0.5435;
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RULE 05: IF rd IS L AND dq IS H AND o IS LL AND v IS L THEN la IS MA , av IS HR WITH 0.7276;
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RULE 06: IF rd IS L AND dq IS H AND o IS Z AND v IS L THEN la IS MA , av IS HL WITH 0.4845;
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RULE 07: IF rd IS L AND dq IS H AND o IS Z AND v IS H THEN la IS HB , av IS ML WITH 0.5023;
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RULE 08: IF rd IS L AND dq IS H AND o IS LR AND v IS H THEN la IS VHB , av IS VHL WITH 0.7363;
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RULE 09: IF rd IS L AND dq IS H AND o IS HR AND v IS L THEN la IS VHB , av IS VHL WITH 0.9441;
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RULE 10: IF rd IS M AND dq IS L AND o IS Z AND v IS H THEN la IS SA , av IS HR WITH 0.3402;
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RULE 11: IF rd IS M AND dq IS L AND o IS LR AND v IS H THEN la IS Z , av IS VHL WITH 0.4244;
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RULE 12: IF rd IS M AND dq IS L AND o IS HR AND v IS L THEN la IS SA , av IS HL WITH 0.5472;
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RULE 13: IF rd IS M AND dq IS L AND o IS HR AND v IS H THEN la IS MB , av IS VHL WITH 0.4369;
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RULE 14: IF rd IS M AND dq IS H AND o IS HL AND v IS L THEN la IS Z , av IS VHR WITH 0.1770;
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RULE 15: IF rd IS M AND dq IS H AND o IS HL AND v IS H THEN la IS VHB , av IS VHR WITH 0.4526;
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RULE 16: IF rd IS M AND dq IS H AND o IS LL AND v IS H THEN la IS SA , av IS VHR WITH 0.2548;
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RULE 17: IF rd IS M AND dq IS H AND o IS Z AND v IS L THEN la IS HA , av IS Z WITH 0.2084;
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RULE 18: IF rd IS M AND dq IS H AND o IS LR AND v IS L THEN la IS HA , av IS VHL WITH 0.6242;
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RULE 19: IF rd IS M AND dq IS H AND o IS LR AND v IS H THEN la IS SA , av IS VHL WITH 0.3779;
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RULE 20: IF rd IS M AND dq IS H AND o IS HR AND v IS L THEN la IS Z , av IS VHL WITH 0.6931;
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RULE 21: IF rd IS M AND dq IS H AND o IS HR AND v IS H THEN la IS VHB , av IS VHL WITH 0.7580;
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RULE 22: IF rd IS H AND dq IS L AND o IS Z AND v IS L THEN la IS HA , av IS VHR WITH 0.5758;
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RULE 23: IF rd IS H AND dq IS L AND o IS LR AND v IS H THEN la IS SA , av IS MR WITH 0.2513;
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RULE 24: IF rd IS H AND dq IS L AND o IS HR AND v IS L THEN la IS HA , av IS VHL WITH 0.5471;
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RULE 25: IF rd IS H AND dq IS L AND o IS HR AND v IS H THEN la IS SA , av IS HL WITH 0.5595;
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RULE 26: IF rd IS H AND dq IS H AND o IS HL AND v IS L THEN la IS VHB , av IS VHR WITH 0.9999;
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RULE 27: IF rd IS H AND dq IS H AND o IS HL AND v IS H THEN la IS VHB , av IS VHR WITH 0.9563;
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RULE 28: IF rd IS H AND dq IS H AND o IS LL AND v IS L THEN la IS HA , av IS VHR WITH 0.9506;
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RULE 29: IF rd IS H AND dq IS H AND o IS Z AND v IS L THEN la IS HA , av IS VHR WITH 0.4529;
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RULE 30: IF rd IS H AND dq IS H AND o IS Z AND v IS H THEN la IS SA , av IS VHR WITH 0.2210;
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RULE 31: IF rd IS H AND dq IS H AND o IS LR AND v IS L THEN la IS HA , av IS MR WITH 0.3612;
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RULE 32: IF rd IS H AND dq IS H AND o IS LR AND v IS H THEN la IS SA , av IS MR WITH 0.2122;
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RULE 33: IF rd IS H AND dq IS H AND o IS HR AND v IS L THEN la IS HA , av IS HL WITH 0.7878;
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RULE 34: IF rd IS H AND dq IS H AND o IS HR AND v IS H THEN la IS SA , av IS VHL WITH 0.3859;
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RULE 35: IF rd IS VH AND dq IS L AND o IS LR AND v IS L THEN la IS HA , av IS VHR WITH 0.5530;
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RULE 36: IF rd IS VH AND dq IS L AND o IS HR AND v IS L THEN la IS HA , av IS HR WITH 0.4223;
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RULE 37: IF rd IS VH AND dq IS L AND o IS HR AND v IS H THEN la IS SA , av IS HR WITH 0.3854;
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RULE 38: IF rd IS VH AND dq IS H AND o IS LL AND v IS L THEN la IS HA , av IS VHR WITH 0.0936;
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RULE 39: IF rd IS VH AND dq IS H AND o IS LR AND v IS L THEN la IS HA , av IS VHR WITH 0.7325;
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RULE 40: IF rd IS VH AND dq IS H AND o IS LR AND v IS H THEN la IS SA , av IS VHR WITH 0.5631;
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RULE 41: IF rd IS VH AND dq IS H AND o IS HR AND v IS L THEN la IS HA , av IS HR WITH 0.5146;
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END_RULEBLOCK
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END_FUNCTION_BLOCK
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