FIRST SPEED GRAPH
FIRST ANGLE GRAPH
FIRST POLICY
Policy 'DRIVING' created.
Default Hedges installed in Policy 'DRIVING'
Growth S-Curve FuzzySet 'BELOW 90' created.

FuzzySet: BELOW 90
Description: Below 90 for angle, when dist. is far, for rule 1
      1.00                                                                      
      0.90                                                                      
      0.80                                               .                      
      0.70                                                                      
      0.60                                                                      
      0.50                                              .                       
      0.40                                                                      
      0.30                                                                      
      0.20                                                                      
      0.10                                             .                        
      0.00.............................................   .................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -180.00 -135.00  -90.00  -45.00    0.00   45.00   90.00  135.00  180.00
Domained: -180.00 to 180.00
PI FuzzySet 'AROUND 45' created. FuzzySet: AROUND 45
Description: Around 45 for angle, when dist. is medium, for rule 2
      1.00                                        .                             
      0.90                                                                      
      0.80                                       . .                            
      0.70                                                                      
      0.60                                                                      
      0.50                                      .   .                           
      0.40                                                                      
      0.30                                                                      
      0.20                                                                      
      0.10                                     .     .                          
      0.00.....................................       .....................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -180.00 -135.00  -90.00  -45.00    0.00   45.00   90.00  135.00  180.00
Domained: -180.00 to 180.00
PI FuzzySet 'AROUND 0' created. FuzzySet: AROUND 0
Description: Around 0 for angle, when dist. is small, for rule 3
      1.00                                .                                     
      0.90                                                                      
      0.80                               . .                                    
      0.70                                                                      
      0.60                                                                      
      0.50                              .   .                                   
      0.40                                                                      
      0.30                                                                      
      0.20                                                                      
      0.10                             .     .                                  
      0.00.............................       .............................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -180.00 -135.00  -90.00  -45.00    0.00   45.00   90.00  135.00  180.00
Domained: -180.00 to 180.00
Truth Series FuzzySet 'BAD ANGLE' created. FuzzySet: BAD ANGLE
Description: Angle NOT between 0 and -90 (for right side only), for rule 4
      1.00.                                               .................     
      0.90 .                                             .                      
      0.80  ..                                         ..                       
      0.70    .                                       .                         
      0.60     ..                                   ..                          
      0.50       ..                               ..                            
      0.40         .                             .                              
      0.30          ..                         ..                               
      0.20            .                       .                                 
      0.10             ..                   ..                                  
      0.00               ...................                                    
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -180.00 -135.00  -90.00  -45.00    0.00   45.00   90.00  135.00  180.00
Domained: -180.00 to 180.00
ANGLES
Domain [UofD]: -180.00 to 180.00
      1.00:                               +       *       :::::::::::::::::     
      0.90 :                                             :                      
      0.80  ::                           + +     * *   ::.                      
      0.70    :                                       :                         
      0.60     ::                                   ::                          
      0.50       ::                     +   +   * ::*   .                       
      0.40         :                             :                              
      0.30          ::                         ::                               
      0.20            :                       :                                 
      0.10             ::              +    :: *     * .                        
      0.00+++++++++++++++:::::::::::::::::::**+++++++++++++++++++++++++++++     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -180.00 -135.00  -90.00  -45.00    0.00   45.00   90.00  135.00  180.00
. FuzzySet: BELOW 90
Description: Below 90 for angle, when dist. is far, for rule 1
Domained: -180.00 to 180.00
* FuzzySet: AROUND 45
Description: Around 45 for angle, when dist. is medium, for rule 2
Domained: -180.00 to 180.00
+ FuzzySet: AROUND 0
Description: Around 0 for angle, when dist. is small, for rule 3
Domained: -180.00 to 180.00
: FuzzySet: BAD ANGLE
Description: Angle NOT between 0 and -90 (for right side only), for rule 4
Domained: -180.00 to 180.00


Linear Increasing FuzzySet 'FAR' created.

FuzzySet: FAR
Description: Far for distance for rule 1
      1.00                                                                      
      0.90                                                                .     
      0.80                                                               .      
      0.70                                                                      
      0.60                                                              .       
      0.50                                                             .        
      0.40                                                                      
      0.30                                                            .         
      0.20                                                                      
      0.10                                                           .          
      0.00...........................................................           
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
         0.00   12.50   25.00   37.50   50.00   62.50   75.00   87.50  100.00
Domained: 0.00 to 100.00
Growth S-Curve FuzzySet 'SH FAR' created. FuzzySet: SH FAR
Description: Quite far for distance for rule 5
      1.00                                                            .....     
      0.90                                                 ...........          
      0.80                                            .....                     
      0.70                                       .....                          
      0.60                                    ...                               
      0.50                                ....                                  
      0.40                             ...                                      
      0.30                         ....                                         
      0.20                    .....                                             
      0.10              ......                                                  
      0.00..............                                                        
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
         0.00   12.50   25.00   37.50   50.00   62.50   75.00   87.50  100.00
Domained: 0.00 to 100.00
PI FuzzySet 'MEDIUM' created. FuzzySet: MEDIUM
Description: Medium for distance for rule 2
      1.00                              .....                                   
      0.90                         .....     .....                              
      0.80                      ...               ...                           
      0.70                    ..                     ..                         
      0.60                  ..                         ..                       
      0.50                ..                             ..                     
      0.40               .                                 .                    
      0.30             ..                                   ..                  
      0.20          ...                                       ...               
      0.10       ...                                             ...            
      0.00.......                                                   .......     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
         0.00   12.50   25.00   37.50   50.00   62.50   75.00   87.50  100.00
Domained: 0.00 to 100.00
Linear Decreasing FuzzySet 'SMALL' created. FuzzySet: SMALL
Description: Small for distance for rule 3
      1.00.                                                                     
      0.90                                                                      
      0.80 .                                                                    
      0.70                                                                      
      0.60  .                                                                   
      0.50   .                                                                  
      0.40                                                                      
      0.30    .                                                                 
      0.20     .                                                                
      0.10                                                                      
      0.00      ...........................................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
         0.00   12.50   25.00   37.50   50.00   62.50   75.00   87.50  100.00
Domained: 0.00 to 100.00
Decline S-Curve FuzzySet 'SLIGHTLY SMALL' created. FuzzySet: SLIGHTLY SMALL
Description: slightly small for distance for rule 7
      1.00...                                                                   
      0.90   .....                                                              
      0.80        ...                                                           
      0.70           ..                                                         
      0.60             ..                                                       
      0.50               ..                                                     
      0.40                 .                                                    
      0.30                  ..                                                  
      0.20                    ...                                               
      0.10                       ...                                            
      0.00                          .......................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
         0.00   12.50   25.00   37.50   50.00   62.50   75.00   87.50  100.00
Domained: 0.00 to 100.00
DISTANCES
Domain [UofD]: 0.00 to 100.00
      1.00---                           +++++                         *****     
      0.90   -----                 +++++     +++++         ***********    .     
      0.80 :      ---           +++               +++ *****              .      
      0.70           --       ++                 ****++                         
      0.60  :          --   ++                ***      ++               .       
      0.50   :           --+              ****           ++            .        
      0.40               + -           ***                 +                    
      0.30    :        ++   --     ****                     ++        .         
      0.20     :    +++       ---**                           +++               
      0.10       +++    ******   ---                             +++ .          
      0.00++++++::::::::::::::::::::---------------------------------------     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
         0.00   12.50   25.00   37.50   50.00   62.50   75.00   87.50  100.00
. FuzzySet: FAR
Description: Far for distance for rule 1
Domained: 0.00 to 100.00
* FuzzySet: SH FAR
Description: Quite far for distance for rule 5
Domained: 0.00 to 100.00
+ FuzzySet: MEDIUM
Description: Medium for distance for rule 2
Domained: 0.00 to 100.00
: FuzzySet: SMALL
Description: Small for distance for rule 3
Domained: 0.00 to 100.00
- FuzzySet: SLIGHTLY SMALL
Description: slightly small for distance for rule 7
Domained: 0.00 to 100.00


PI FuzzySet 'LOW' created.

FuzzySet: LOW
Description: Low speed for rule 7
      1.00                                      ..                              
      0.90                                     .  .                             
      0.80                                    .    .                            
      0.70                                   .      .                           
      0.60                                                                      
      0.50                                  .        .                          
      0.40                                                                      
      0.30                                 .          .                         
      0.20                                .            .                        
      0.10                               .                                      
      0.00...............................               ...................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
Growth S-Curve FuzzySet 'HIGH' created. FuzzySet: HIGH
Description: High speed for rule 6
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                          ...                         
      0.10                                       ...                            
      0.00.......................................                               
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
PI FuzzySet 'ZERO WHL ANG' created. FuzzySet: ZERO WHL ANG
Description: Zero wheel angle for rule 6
      1.00                                .                                     
      0.90                              .. ..                                   
      0.80                             .     .                                  
      0.70                            .       .                                 
      0.60                           .         .                                
      0.50                          .           .                               
      0.40                                                                      
      0.30                         .             .                              
      0.20                        .               .                             
      0.10                       .                 .                            
      0.00.......................                   .......................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
PI FuzzySet 'MEDium' created. FuzzySet: MEDium
Description: Medium speed
      1.00                                                .                     
      0.90                                              .. ..                   
      0.80                                             .     .                  
      0.70                                                                      
      0.60                                            .       .                 
      0.50                                                                      
      0.40                                           .         .                
      0.30                                                                      
      0.20                                          .           .               
      0.10                                         .             .              
      0.00.........................................               .........     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
PI FuzzySet 'VERY LOW' created. FuzzySet: VERY LOW
Description: Very low speed for rule 7
      1.00                                .                                     
      0.90                              .. ..                                   
      0.80                             .     .                                  
      0.70                                                                      
      0.60                            .       .                                 
      0.50                                                                      
      0.40                           .         .                                
      0.30                                                                      
      0.20                          .           .                               
      0.10                         .             .                              
      0.00.........................               .........................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
Growth S-Curve FuzzySet 'NON ZERO' created. FuzzySet: NON ZERO
Description: no zero speed for rule 8
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                          ...                         
      0.10                                       ...                            
      0.00.......................................                               
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
SPEEDS
Domain [UofD]: -100.00 to 100.00
      1.00                                -     ..        :             !!!     
      0.90                              --+--  .  .     :: ::      !!!!!        
      0.80                             -+  + -.    .   :     :  !!!             
      0.70                             +    +.      .         !!                
      0.60                            -+     +-       :     !!:                 
      0.50                            +     .+       .    !!                    
      0.40                           -         -     :   !     :                
      0.30                           +     .  +       .!!                       
      0.20                          -+    .   + -   !!!.        :               
      0.10                         -+    .     + !!!             :              
      0.00!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!:-------------------------     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
. FuzzySet: LOW
Description: Low speed for rule 7
Domained: -100.00 to 100.00
* FuzzySet: HIGH
Description: High speed for rule 6
Domained: -100.00 to 100.00
+ FuzzySet: ZERO WHL ANG
Description: Zero wheel angle for rule 6
Domained: -60.00 to 60.00
: FuzzySet: MEDium
Description: Medium speed
Domained: -100.00 to 100.00
- FuzzySet: VERY LOW
Description: Very low speed for rule 7
Domained: -100.00 to 100.00
! FuzzySet: NON ZERO
Description: no zero speed for rule 8
Domained: -100.00 to 100.00



NEXT policy
Angle Estimation Policy Begins
distance from path: 0.00
angle between my direction and the path: 19.57
side relative to the path: LEFT
direction forward
position speed: 0.00
front wheels angle: 0.00
distance to a next point on the path: 47.76
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.00
How SMALL is my distance? (3) = 1.00
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      0.000, [1.0000]
Angle DIFFerence between "my dir." and "dir. I should go" 19.57
How much BAD is my angle? (4) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 1.00
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.00
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.00
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = 3.91
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -11.55
(will be copied with premise truth 0.00)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 1.00
How much is the angle "around 0"? (6) = 0.07
How much DON'T I approach next point? (6) = 1.00
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.07
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                          ...                         
      0.10                                       ...                            
      0.00.......................................                               
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 70.313, [0.8237]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                  .                                   
      0.90                                .. ..                                 
      0.80                               .     .                                
      0.70                              .       .                               
      0.60                             .         .                              
      0.50                                        .                             
      0.40                            .                                         
      0.30                           .             .                            
      0.20                          .               .                           
      0.10                         .                 .                          
      0.00.........................                   .....................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: 3.750, [0.9999]


NEXT policy
Angle Estimation Policy Begins
distance from path: 1.05
angle between my direction and the path: 19.24
side relative to the path: RIGHT
direction forward
position speed: 70.31
front wheels angle: 3.75
distance to a next point on the path: 44.43
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.00
How SMALL is my distance? (3) = 0.92
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      0.000, [0.9222]
Angle DIFFerence between "my dir." and "dir. I should go" 19.24
How much BAD is my angle? (4) = 0.20

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 0.80
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.03
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.03
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = 7.60
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -7.80
(will be copied with premise truth 0.03)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.92
How much is the angle "around 0"? (6) = 0.07
How much DON'T I approach next point? (6) = 0.97
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.07
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                     .... ...                         
      0.10                                  ...    .                            
      0.00..................................                                    
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 67.188, [0.7847]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                    .                                 
      0.90                                  .. ..                               
      0.80                                 .     .                              
      0.70                                .       .                             
      0.60                               .         .                            
      0.50                              .           .                           
      0.40                                                                      
      0.30                             .             .                          
      0.20                            .               .                         
      0.10                           .                 .                        
      0.00...........................                   ...................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: 7.031, [0.9987]


NEXT policy
Angle Estimation Policy Begins
distance from path: 1.95
angle between my direction and the path: 18.65
side relative to the path: RIGHT
direction forward
position speed: 67.19
front wheels angle: 7.03
distance to a next point on the path: 41.23
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.00
How SMALL is my distance? (3) = 0.84
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      0.000, [0.8444]
Angle DIFFerence between "my dir." and "dir. I should go" 18.65
How much BAD is my angle? (4) = 0.20

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 0.80
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.06
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.06
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = 10.76
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -4.51
(will be copied with premise truth 0.06)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.84
How much is the angle "around 0"? (6) = 0.07
How much DON'T I approach next point? (6) = 0.94
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.07
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                     .... ...                         
      0.10                                  ...    .                            
      0.00..................................                                    
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 66.406, [0.7743]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                     ..                               
      0.90                                   ..  ..                             
      0.80                                  .      .                            
      0.70                                          .                           
      0.60                                 .         .                          
      0.50                                .                                     
      0.40                                            .                         
      0.30                               .             .                        
      0.20                              .               .                       
      0.10                             .                 .                      
      0.00.............................                   .................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: 9.844, [0.9967]


NEXT policy
Angle Estimation Policy Begins
distance from path: 2.71
angle between my direction and the path: 17.83
side relative to the path: RIGHT
direction forward
position speed: 66.41
front wheels angle: 9.84
distance to a next point on the path: 38.06
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.00
How SMALL is my distance? (3) = 0.77
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      0.000, [0.7665]
Angle DIFFerence between "my dir." and "dir. I should go" 17.83
How much BAD is my angle? (4) = 0.19

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 0.81
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.12
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.12
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = 13.41
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -1.70
(will be copied with premise truth 0.12)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.77
How much is the angle "around 0"? (6) = 0.13
How much DON'T I approach next point? (6) = 0.88
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.13
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                          ...                         
      0.10                             .............                            
      0.00.............................                                         
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 64.844, [0.7528]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                       ..                             
      0.90                                     ..  .                            
      0.80                                    .     ..                          
      0.70                                   .                                  
      0.60                                  .         .                         
      0.50                                             .                        
      0.40                                 .                                    
      0.30                                .             .                       
      0.20                               .               .                      
      0.10                           ....                 .                     
      0.00...........................                      ................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: 12.188, [0.9941]


NEXT policy
Angle Estimation Policy Begins
distance from path: 3.33
angle between my direction and the path: 16.84
side relative to the path: RIGHT
direction forward
position speed: 64.84
front wheels angle: 12.19
distance to a next point on the path: 34.96
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.01
How SMALL is my distance? (3) = 0.69
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      0.000, [0.6887]
Angle DIFFerence between "my dir." and "dir. I should go" 16.84
How much BAD is my angle? (4) = 0.17

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 0.83
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.19
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.19
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = 15.56
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = 0.64
(will be copied with premise truth 0.19)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.69
How much is the angle "around 0"? (6) = 0.20
How much DON'T I approach next point? (6) = 0.81
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.20
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                          ...                         
      0.10                            ..............                            
      0.00............................                                          
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 63.281, [0.7303]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                        ..                            
      0.90                                      ..  ..                          
      0.80                                     .      .                         
      0.70                                    .        .                        
      0.60                                   .                                  
      0.50                                              .                       
      0.40                                  .                                   
      0.30                                 .             .                      
      0.20                               ..               .                     
      0.10                          .....                  .                    
      0.00..........................                        ...............     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: 13.594, [0.9848]


NEXT policy
Angle Estimation Policy Begins
distance from path: 3.85
angle between my direction and the path: 15.75
side relative to the path: RIGHT
direction forward
position speed: 63.28
front wheels angle: 13.59
distance to a next point on the path: 31.91
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.01
How SMALL is my distance? (3) = 0.65
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      0.000, [0.6498]
Angle DIFFerence between "my dir." and "dir. I should go" 15.75
How much BAD is my angle? (4) = 0.17

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 0.83
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.27
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.27
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = 16.74
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = 2.05
(will be copied with premise truth 0.27)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.65
How much is the angle "around 0"? (6) = 0.20
How much DON'T I approach next point? (6) = 0.73
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.20
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                             .......      ...                         
      0.10                           ..       ......                            
      0.00...........................                                           
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 60.938, [0.6948]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                         .                            
      0.90                                       .. ..                          
      0.80                                      .     .                         
      0.70                                     .       .                        
      0.60                                    .         .                       
      0.50                                   .                                  
      0.40                                               .                      
      0.30                                  .             .                     
      0.20                             .....               .                    
      0.10                          ...                     .                   
      0.00..........................                         ..............     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: 14.063, [0.9716]


NEXT policy
Angle Estimation Policy Begins
distance from path: 4.28
angle between my direction and the path: 14.68
side relative to the path: RIGHT
direction forward
position speed: 60.94
front wheels angle: 14.06
distance to a next point on the path: 29.00
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.01
How SMALL is my distance? (3) = 0.61
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      0.000, [0.6109]
Angle DIFFerence between "my dir." and "dir. I should go" 14.68
How much BAD is my angle? (4) = 0.16

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 0.84
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.36
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.36
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = 17.00
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = 2.52
(will be copied with premise truth 0.36)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.61
How much is the angle "around 0"? (6) = 0.28
How much DON'T I approach next point? (6) = 0.64
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.28
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                              .....          ..                       
      0.20                            ..     ..     ...                         
      0.10                          ..         .....                            
      0.00..........................                                            
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 58.594, [0.6571]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                         .                            
      0.90                                       .. ..                          
      0.80                                      .     .                         
      0.70                                     .       .                        
      0.60                                    .         .                       
      0.50                                               .                      
      0.40                                   .                                  
      0.30                              .....             .                     
      0.20                            ..                   .                    
      0.10                         ...                      .                   
      0.00.........................                          ..............     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: 13.594, [0.9542]


NEXT policy
Angle Estimation Policy Begins
distance from path: 4.65
angle between my direction and the path: 13.67
side relative to the path: RIGHT
direction forward
position speed: 58.59
front wheels angle: 13.59
distance to a next point on the path: 26.20
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.01
How SMALL is my distance? (3) = 0.57
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      0.000, [0.5720]
Angle DIFFerence between "my dir." and "dir. I should go" 13.67
How much BAD is my angle? (4) = 0.14

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 0.86
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.45
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.45
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = 16.33
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = 2.05
(will be copied with premise truth 0.45)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.57
How much is the angle "around 0"? (6) = 0.38
How much DON'T I approach next point? (6) = 0.55
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.38
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                              .....            .                      
      0.30                            ..     ..        ..                       
      0.20                           .         .    ...                         
      0.10                          .           ....                            
      0.00..........................                                            
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 56.250, [0.6172]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                        ..                            
      0.90                                      ..  ..                          
      0.80                                     .      .                         
      0.70                                    .        .                        
      0.60                                              .                       
      0.50                                   .                                  
      0.40                              .....            .                      
      0.30                            ..                  .                     
      0.20                          ..                     .                    
      0.10                         .                        .                   
      0.00.........................                          ..............     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: 12.188, [0.9323]


NEXT policy
Angle Estimation Policy Begins
distance from path: 4.99
angle between my direction and the path: 12.80
side relative to the path: RIGHT
direction forward
position speed: 56.25
front wheels angle: 12.19
distance to a next point on the path: 23.52
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.02
How SMALL is my distance? (3) = 0.53
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      1.406, [0.5289]
Angle DIFFerence between "my dir." and "dir. I should go" 14.21
How much BAD is my angle? (4) = 0.14

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 0.86
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.56
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.56
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = 15.03
How much should I take the previous angle in mind? (7) = 0.88

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = 0.64
(will be copied with premise truth 0.56)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.53
How much is the angle "around 0"? (6) = 0.38
How much DON'T I approach next point? (6) = 0.44
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.38
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                              .....             ..                    
      0.40                             .     .           .                      
      0.30                            .       .        ..                       
      0.20                           .         .    ...                         
      0.10                          .           ....                            
      0.00..........................                                            
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 53.125, [0.5605]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                                                      
      0.90                                                                      
      0.80                                      .....                           
      0.70                                     .     .                          
      0.60                                    .       .                         
      0.50                              ......         .                        
      0.40                            ..                .                       
      0.30                           .                   .                      
      0.20                          .                     .                     
      0.10                        ..                       .                    
      0.00........................                          ...............     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: 9.844, [0.7855]


NEXT policy
Angle Estimation Policy Begins
distance from path: 5.34
angle between my direction and the path: 12.15
side relative to the path: RIGHT
direction forward
position speed: 53.13
front wheels angle: 9.84
distance to a next point on the path: 21.04
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.02
How SMALL is my distance? (3) = 0.49
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      1.406, [0.4903]
Angle DIFFerence between "my dir." and "dir. I should go" 13.55
How much BAD is my angle? (4) = 0.13

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.01
How much is the angle NOT BAD? (5) = 0.88
Intersection of "far dist." and "not bad angle" (5) = 0.01

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.66
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.66
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = 12.55
How much should I take the previous angle in mind? (7) = 0.69

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -1.70
(will be copied with premise truth 0.66)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.49
How much is the angle "around 0"? (6) = 0.50
How much DON'T I approach next point? (6) = 0.34
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.34
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                              .....               ..                  
      0.50                             .     .            ..                    
      0.40                            .       .          .                      
      0.30                           .         .       ..                       
      0.20                                          ...                         
      0.10                         ..           ....                            
      0.00.........................                                             
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 50.781, [0.5155]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                                                      
      0.90                                                                      
      0.80                                                                      
      0.70                                                                      
      0.60                             .....  ......                            
      0.50                           ..     ..      ..                          
      0.40                          .                 .                         
      0.30                         .                   .                        
      0.20                        .                     .                       
      0.10                       .                       .                      
      0.00.......................                         .................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: 5.625, [0.5557]


NEXT policy
Angle Estimation Policy Begins
distance from path: 5.74
angle between my direction and the path: 11.79
side relative to the path: RIGHT
direction forward
position speed: 50.78
front wheels angle: 5.62
distance to a next point on the path: 18.78
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.02
How SMALL is my distance? (3) = 0.46
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      1.406, [0.4517]
Angle DIFFerence between "my dir." and "dir. I should go" 13.20
How much BAD is my angle? (4) = 0.13

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.01
How much is the angle NOT BAD? (5) = 0.88
Intersection of "far dist." and "not bad angle" (5) = 0.01

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.72
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.72
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = 8.26
How much should I take the previous angle in mind? (7) = 0.56

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -5.92
(will be copied with premise truth 0.72)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.46
How much is the angle "around 0"? (6) = 0.50
How much DON'T I approach next point? (6) = 0.28
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.28
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                               ...                  ..                
      0.60                              .   .               ..                  
      0.50                             .     .            ..                    
      0.40                            .       .          .                      
      0.30                           .         .       ..                       
      0.20                          .           .   ...                         
      0.10                         .             ...                            
      0.00.........................                                             
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 50.000, [0.5000]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                                                      
      0.90                                                                      
      0.80                                                                      
      0.70                            ...                                       
      0.60                          ..   ..                                     
      0.50                         .       .......                              
      0.40                        .               ..                            
      0.30                       .                  .                           
      0.20                      .                    .                          
      0.10                    ..                      ..                        
      0.00....................                          ...................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -0.469, [0.6343]


NEXT policy
Angle Estimation Policy Begins
distance from path: 6.26
angle between my direction and the path: 11.82
side relative to the path: RIGHT
direction forward
position speed: 50.00
front wheels angle: -0.47
distance to a next point on the path: 16.66
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.03
How SMALL is my distance? (3) = 0.38
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      2.813, [0.3656]
Angle DIFFerence between "my dir." and "dir. I should go" 14.63
How much BAD is my angle? (4) = 0.13

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.01
How much is the angle NOT BAD? (5) = 0.88
Intersection of "far dist." and "not bad angle" (5) = 0.01

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.78
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.78
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = 2.46
How much should I take the previous angle in mind? (7) = 0.43

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -12.01
(will be copied with premise truth 0.78)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.38
How much is the angle "around 0"? (6) = 0.50
How much DON'T I approach next point? (6) = 0.22
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.22
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                              .....                 ..                
      0.60                             .     .              ..                  
      0.50                            .       .           ..                    
      0.40                                               .                      
      0.30                           .         .       ..                       
      0.20                          .           .   ...                         
      0.10                         .             ...                            
      0.00.........................                                             
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 48.438, [0.4692]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                                                      
      0.90                                                                      
      0.80                                                                      
      0.70                       ......                                         
      0.60                      .      .                                        
      0.50                     .        .                                       
      0.40                    .          .....                                  
      0.30                   .                ...                               
      0.20                  .                    .                              
      0.10                 .                      ..                            
      0.00.................                         .......................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -7.969, [0.7339]


NEXT policy
Angle Estimation Policy Begins
distance from path: 6.93
angle between my direction and the path: 12.30
side relative to the path: RIGHT
direction forward
position speed: 48.44
front wheels angle: -7.97
distance to a next point on the path: 14.84
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.04
How SMALL is my distance? (3) = 0.34
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      4.219, [0.3147]
Angle DIFFerence between "my dir." and "dir. I should go" 16.52
How much BAD is my angle? (4) = 0.13

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.01
How much is the angle NOT BAD? (5) = 0.88
Intersection of "far dist." and "not bad angle" (5) = 0.01

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.83
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.83
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -4.66
How much should I take the previous angle in mind? (7) = 0.33

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -19.51
(will be copied with premise truth 0.83)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.34
How much is the angle "around 0"? (6) = 0.50
How much DON'T I approach next point? (6) = 0.17
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.17
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                               ...                    ...             
      0.70                              .   .                 ..                
      0.60                             .     .              ..                  
      0.50                            .       .           ..                    
      0.40                                               .                      
      0.30                           .         .       ..                       
      0.20                          .           .   ...                         
      0.10                         .             ...                            
      0.00.........................                                             
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 47.656, [0.4542]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                                                      
      0.90                                                                      
      0.80                    ....                                              
      0.70                   .    ..                                            
      0.60                  .       .                                           
      0.50                 .         .                                          
      0.40                .                                                     
      0.30               .            .....                                     
      0.20              .                  ...                                  
      0.10             .                      ..                                
      0.00.............                         ...........................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -15.938, [0.7908]


NEXT policy
Angle Estimation Policy Begins
distance from path: 7.77
angle between my direction and the path: 13.26
side relative to the path: RIGHT
direction forward
position speed: 47.66
front wheels angle: -15.94
distance to a next point on the path: 13.39
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.04
How SMALL is my distance? (3) = 0.26
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      5.625, [0.2281]
Angle DIFFerence between "my dir." and "dir. I should go" 18.89
How much BAD is my angle? (4) = 0.14

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.01
How much is the angle NOT BAD? (5) = 0.86
Intersection of "far dist." and "not bad angle" (5) = 0.01

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.86
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.86
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -12.16
How much should I take the previous angle in mind? (7) = 0.28

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -27.48
(will be copied with premise truth 0.86)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.26
How much is the angle "around 0"? (6) = 0.38
How much DON'T I approach next point? (6) = 0.14
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.14
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                               ...                    ...             
      0.70                             ..   ..                ..                
      0.60                                                  ..                  
      0.50                            .       .           ..                    
      0.40                           .         .         .                      
      0.30                                             ..                       
      0.20                          .           .   ...                         
      0.10                         .             ...                            
      0.00.........................                                             
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 46.875, [0.4395]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                                                      
      0.90                                                                      
      0.80               .....                                                  
      0.70              .     ..                                                
      0.60             .        .                                               
      0.50            .                                                         
      0.40                       .                                              
      0.30           .            .                                             
      0.20          .              ......                                       
      0.10         .                     .......                                
      0.00.........                             ...........................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -22.969, [0.7897]


NEXT policy
Angle Estimation Policy Begins
distance from path: 8.80
angle between my direction and the path: 14.66
side relative to the path: RIGHT
direction forward
position speed: 46.88
front wheels angle: -22.97
distance to a next point on the path: 12.44
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.06
How SMALL is my distance? (3) = 0.14
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:     12.656, [0.0551]
Angle DIFFerence between "my dir." and "dir. I should go" 27.32
How much BAD is my angle? (4) = 0.16

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.01
How much is the angle NOT BAD? (5) = 0.84
Intersection of "far dist." and "not bad angle" (5) = 0.01

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.88
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.88
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -17.51
How much should I take the previous angle in mind? (7) = 0.23

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -34.51
(will be copied with premise truth 0.88)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.14
How much is the angle "around 0"? (6) = 0.28
How much DON'T I approach next point? (6) = 0.12
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.12
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                              .....                   ...             
      0.70                             .     .                ..                
      0.60                                                  ..                  
      0.50                            .       .           ..                    
      0.40                           .         .         .                      
      0.30                                             ..                       
      0.20                          .           .   ...                         
      0.10                         .             ...                            
      0.00.........................                                             
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 46.875, [0.4395]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                                                      
      0.90                                                                      
      0.80           ......                                                     
      0.70          .      .                                                    
      0.60         .        .                                                   
      0.50        .          .                                                  
      0.40                                                                      
      0.30       .            .                                                 
      0.20      .              ......                                           
      0.10     .                     ..........                                 
      0.00.....                                ............................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -29.531, [0.7961]


NEXT policy
Angle Estimation Policy Begins
distance from path: 10.05
angle between my direction and the path: 16.53
side relative to the path: RIGHT
direction forward
position speed: 46.88
front wheels angle: -29.53
distance to a next point on the path: 12.10
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.08
How SMALL is my distance? (3) = 0.03
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:     32.344, [0.0292]
Angle DIFFerence between "my dir." and "dir. I should go" 48.87
How much BAD is my angle? (4) = 0.17

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.02
How much is the angle NOT BAD? (5) = 0.83
Intersection of "far dist." and "not bad angle" (5) = 0.02

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.89
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.89
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -19.76
How much should I take the previous angle in mind? (7) = 0.22

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -41.08
(will be copied with premise truth 0.89)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.03
How much is the angle "around 0"? (6) = 0.20
How much DON'T I approach next point? (6) = 0.11
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.03
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                .                        .....        
      0.80                              .. ..                   ...             
      0.70                             .     .                ..                
      0.60                                                  ..                  
      0.50                            .       .           ..                    
      0.40                           .         .         .                      
      0.30                                             ..                       
      0.20                          .           .   ...                         
      0.10                         .             ...                            
      0.00.........................                                             
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 46.094, [0.4249]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                                                      
      0.90          .                                                           
      0.80        .. ..                                                         
      0.70       .     ..                                                       
      0.60      .        .                                                      
      0.50     .                                                                
      0.40    .           .                                                     
      0.30   .             .                                                    
      0.20                  .......                                             
      0.10 ..                      ....                                         
      0.00.                            ....................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -37.031, [0.8326]


NEXT policy
Angle Estimation Policy Begins
distance from path: 11.37
angle between my direction and the path: 18.43
side relative to the path: RIGHT
direction forward
position speed: 46.09
front wheels angle: -30.00
distance to a next point on the path: 12.33
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.10
How SMALL is my distance? (3) = 0.00
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:     45.000, [0.1027]
Angle DIFFerence between "my dir." and "dir. I should go" 63.43
How much BAD is my angle? (4) = 0.20

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.03
How much is the angle NOT BAD? (5) = 0.80
Intersection of "far dist." and "not bad angle" (5) = 0.03

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.88
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.88
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -17.31
How much should I take the previous angle in mind? (7) = 0.23

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -41.55
(will be copied with premise truth 0.88)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.00
How much is the angle "around 0"? (6) = 0.07
How much DON'T I approach next point? (6) = 0.12
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.00
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                              .....                   ...             
      0.70                             .     .                ..                
      0.60                                                  ..                  
      0.50                            .       .           ..                    
      0.40                           .         .         .                      
      0.30                                             ..                       
      0.20                          .           ... ...                         
      0.10                         .               .                            
      0.00.........................                                             
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 46.094, [0.4249]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                                                      
      0.90                                                                      
      0.80        .....                                                         
      0.70      ..     .                                                        
      0.60     .        .                                                       
      0.50               .                                                      
      0.40    .           .                                                     
      0.30   .                                                                  
      0.20  .              .  .......                                           
      0.10 .                ..       ...                                        
      0.00.                             ...................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -37.031, [0.8116]


NEXT policy
Angle Estimation Policy Begins
distance from path: 12.76
angle between my direction and the path: 20.33
side relative to the path: RIGHT
direction forward
position speed: 46.09
front wheels angle: -30.00
distance to a next point on the path: 13.07
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.13
How SMALL is my distance? (3) = 0.00
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:     45.000, [0.1250]
Angle DIFFerence between "my dir." and "dir. I should go" 65.33
How much BAD is my angle? (4) = 0.22

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.03
How much is the angle NOT BAD? (5) = 0.78
Intersection of "far dist." and "not bad angle" (5) = 0.03

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.87
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.87
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -16.93
How much should I take the previous angle in mind? (7) = 0.27

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -41.55
(will be copied with premise truth 0.87)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.00
How much is the angle "around 0"? (6) = 0.03
How much DON'T I approach next point? (6) = 0.13
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.00
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                              .....                   ...             
      0.70                             .     .                ..                
      0.60                                                  ..                  
      0.50                            .       .           ..                    
      0.40                           .         .         .                      
      0.30                                             ..                       
      0.20                          .           ... ...                         
      0.10                         .               .                            
      0.00.........................                                             
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 46.875, [0.4395]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                                                      
      0.90                                                                      
      0.80        .....                                                         
      0.70       .     .                                                        
      0.60      .       .                                                       
      0.50     .         .                                                      
      0.40    .           .                                                     
      0.30   .                                                                  
      0.20  .              . .........                                          
      0.10 .                .         ...                                       
      0.00.                              ..................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -36.563, [0.7820]


NEXT policy
Angle Estimation Policy Begins
distance from path: 14.21
angle between my direction and the path: 22.23
side relative to the path: RIGHT
direction forward
position speed: 46.88
front wheels angle: -30.00
distance to a next point on the path: 14.24
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.16
How SMALL is my distance? (3) = 0.00
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:     45.000, [0.1582]
Angle DIFFerence between "my dir." and "dir. I should go" 67.23
How much BAD is my angle? (4) = 0.23

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.04
How much is the angle NOT BAD? (5) = 0.77
Intersection of "far dist." and "not bad angle" (5) = 0.04

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.84
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.84
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -16.55
How much should I take the previous angle in mind? (7) = 0.32

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -41.55
(will be copied with premise truth 0.84)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.00
How much is the angle "around 0"? (6) = 0.01
How much DON'T I approach next point? (6) = 0.16
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.00
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                               ...                    ...             
      0.70                              .   .                 ..                
      0.60                             .     .              ..                  
      0.50                            .       .           ..                    
      0.40                                               .                      
      0.30                           .         .       ..                       
      0.20                          .           .......                         
      0.10                         .                                            
      0.00.........................                                             
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 46.875, [0.4395]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                                                      
      0.90                                                                      
      0.80        ....                                                          
      0.70       .    ..                                                        
      0.60      .       .                                                       
      0.50     .         .                                                      
      0.40    .           .                                                     
      0.30   .                 .....                                            
      0.20  .              ....     ...                                         
      0.10 .                           ..                                       
      0.00.                              ..................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -35.156, [0.7060]


NEXT policy
Angle Estimation Policy Begins
distance from path: 15.73
angle between my direction and the path: 24.14
side relative to the path: RIGHT
direction forward
position speed: 46.88
front wheels angle: -30.00
distance to a next point on the path: 15.76
angle change in the next point on the path:
57.73

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.20
How SMALL is my distance? (3) = 0.00
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:     45.000, [0.1953]
Angle DIFFerence between "my dir." and "dir. I should go" 69.14
How much BAD is my angle? (4) = 0.27

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.05
How much is the angle NOT BAD? (5) = 0.73
Intersection of "far dist." and "not bad angle" (5) = 0.05

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.80
How much is the next angle change "NOT around 0"? (7) = 1.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.80
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -16.17
How much should I take the previous angle in mind? (7) = 0.39

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -41.55
(will be copied with premise truth 0.80)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.00
How much is the angle "around 0"? (6) = 0.00
How much DON'T I approach next point? (6) = 0.20
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.00
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                .                     ...             
      0.70                              .. ..                 ..                
      0.60                             .     .              ..                  
      0.50                            .       .           ..                    
      0.40                                               .                      
      0.30                           .         .       ..                       
      0.20                          .           .......                         
      0.10                         .                                            
      0.00.........................                                             
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 47.656, [0.4542]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00                                                                      
      0.90                                                                      
      0.80         ..                                                           
      0.70       ..  ...                                                        
      0.60      .       .                                                       
      0.50     .         .                                                      
      0.40    .                                                                 
      0.30   .            .   ........                                          
      0.20  .              ...        ..                                        
      0.10 .                            ..                                      
      0.00.                               .................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -33.750, [0.6115]


NEXT policy
Angle Estimation Policy Begins
distance from path: 6.90
angle between my direction and the path: -31.65
side relative to the path: RIGHT
direction forward
position speed: 47.66
front wheels angle: -30.00
distance to a next point on the path: 20.65
angle change in the next point on the path:
0.00

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.04
How SMALL is my distance? (3) = 0.34
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      4.219, [0.3147]
Angle DIFFerence between "my dir." and "dir. I should go"-27.43
How much BAD is my angle? (4) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.01
How much is the angle NOT BAD? (5) = 1.00
Intersection of "far dist." and "not bad angle" (5) = 0.01

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.67
How much is the next angle change "NOT around 0"? (7) = 0.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.00
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -35.49
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -30.00
(will be copied with premise truth 0.00)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.34
How much is the angle "around 0"? (6) = 0.00
How much DON'T I approach next point? (6) = 1.00
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.00
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                          ...                         
      0.10                                       ...                            
      0.00.......................................                               
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 70.313, [0.8237]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00             .                                                        
      0.90           .. ..                                                      
      0.80          .     .                                                     
      0.70         .       .                                                    
      0.60        .         .                                                   
      0.50                   .                                                  
      0.40       .                                                              
      0.30      .             .                                                 
      0.20     .               .                                                
      0.10    .                 .                                               
      0.00....                   ..........................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -35.625, [0.9999]


NEXT policy
Angle Estimation Policy Begins
distance from path: 6.01
angle between my direction and the path: -28.76
side relative to the path: RIGHT
direction forward
position speed: 70.31
front wheels angle: -30.00
distance to a next point on the path: 17.02
angle change in the next point on the path:
0.00

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.03
How SMALL is my distance? (3) = 0.42
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      1.406, [0.4131]
Angle DIFFerence between "my dir." and "dir. I should go"-27.35
How much BAD is my angle? (4) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.01
How much is the angle NOT BAD? (5) = 1.00
Intersection of "far dist." and "not bad angle" (5) = 0.01

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.77
How much is the next angle change "NOT around 0"? (7) = 0.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.00
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -35.47
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -30.00
(will be copied with premise truth 0.00)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.42
How much is the angle "around 0"? (6) = 0.00
How much DON'T I approach next point? (6) = 1.00
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.00
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                          ...                         
      0.10                                       ...                            
      0.00.......................................                               
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 70.313, [0.8237]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00             .                                                        
      0.90           .. ..                                                      
      0.80          .     .                                                     
      0.70         .       .                                                    
      0.60        .         .                                                   
      0.50                   .                                                  
      0.40       .                                                              
      0.30      .             .                                                 
      0.20     .               .                                                
      0.10    .                 .                                               
      0.00....                   ..........................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -35.625, [0.9999]


NEXT policy
Angle Estimation Policy Begins
distance from path: 5.31
angle between my direction and the path: -25.86
side relative to the path: RIGHT
direction forward
position speed: 70.31
front wheels angle: -30.00
distance to a next point on the path: 13.44
angle change in the next point on the path:
0.00

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.02
How SMALL is my distance? (3) = 0.49
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      1.406, [0.4903]
Angle DIFFerence between "my dir." and "dir. I should go"-24.46
How much BAD is my angle? (4) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.01
How much is the angle NOT BAD? (5) = 1.00
Intersection of "far dist." and "not bad angle" (5) = 0.01

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.86
How much is the next angle change "NOT around 0"? (7) = 0.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.00
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -34.89
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -30.00
(will be copied with premise truth 0.00)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.49
How much is the angle "around 0"? (6) = 0.00
How much DON'T I approach next point? (6) = 1.00
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.00
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                          ...                         
      0.10                                       ...                            
      0.00.......................................                               
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 70.313, [0.8237]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00             ..                                                       
      0.90           ..  ..                                                     
      0.80          .      .                                                    
      0.70         .        .                                                   
      0.60        .                                                             
      0.50                   .                                                  
      0.40       .            .                                                 
      0.30      .                                                               
      0.20                     .                                                
      0.10    ..                .                                               
      0.00....                   ..........................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -35.156, [0.9997]


NEXT policy
Angle Estimation Policy Begins
distance from path: 4.78
angle between my direction and the path: -22.97
side relative to the path: RIGHT
direction forward
position speed: 70.31
front wheels angle: -30.00
distance to a next point on the path: 9.97
angle change in the next point on the path:
0.00

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.02
How SMALL is my distance? (3) = 0.53
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      1.406, [0.5289]
Angle DIFFerence between "my dir." and "dir. I should go"-21.56
How much BAD is my angle? (4) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 1.00
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.92
How much is the next angle change "NOT around 0"? (7) = 0.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.00
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -34.31
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -30.00
(will be copied with premise truth 0.00)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.53
How much is the angle "around 0"? (6) = 0.00
How much DON'T I approach next point? (6) = 1.00
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.00
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                          ...                         
      0.10                                       ...                            
      0.00.......................................                               
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 70.313, [0.8237]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00             ..                                                       
      0.90           ..  ..                                                     
      0.80          .      .                                                    
      0.70         .        .                                                   
      0.60                   .                                                  
      0.50        .                                                             
      0.40       .            .                                                 
      0.30                     .                                                
      0.20      .               .                                               
      0.10     .                 .                                              
      0.00.....                   .........................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -34.688, [0.9994]


NEXT policy
Angle Estimation Policy Begins
distance from path: 4.43
angle between my direction and the path: -20.07
side relative to the path: RIGHT
direction forward
position speed: 70.31
front wheels angle: -30.00
distance to a next point on the path: 6.78
angle change in the next point on the path:
0.00

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.01
How SMALL is my distance? (3) = 0.57
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      0.000, [0.5720]
Angle DIFFerence between "my dir." and "dir. I should go"-20.07
How much BAD is my angle? (4) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 1.00
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.96
How much is the next angle change "NOT around 0"? (7) = 0.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.00
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -34.01
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -30.00
(will be copied with premise truth 0.00)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.57
How much is the angle "around 0"? (6) = 0.01
How much DON'T I approach next point? (6) = 1.00
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.01
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                          ...                         
      0.10                                       ...                            
      0.00.......................................                               
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 70.313, [0.8237]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00              .                                                       
      0.90            .. ..                                                     
      0.80          ..     .                                                    
      0.70                  .                                                   
      0.60         .         .                                                  
      0.50        .                                                             
      0.40                    .                                                 
      0.30       .             .                                                
      0.20      .               .                                               
      0.10     .                 .                                              
      0.00.....                   .........................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -34.219, [0.9998]


NEXT policy
Angle Estimation Policy Begins
distance from path: 4.27
angle between my direction and the path: -17.18
side relative to the path: RIGHT
direction forward
position speed: 70.31
front wheels angle: -30.00
distance to a next point on the path: 4.52
angle change in the next point on the path:
0.00

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.01
How SMALL is my distance? (3) = 0.61
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      0.000, [0.6109]
Angle DIFFerence between "my dir." and "dir. I should go"-17.18
How much BAD is my angle? (4) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 1.00
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.99
How much is the next angle change "NOT around 0"? (7) = 0.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.00
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -33.44
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -30.00
(will be copied with premise truth 0.00)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.61
How much is the angle "around 0"? (6) = 0.07
How much DON'T I approach next point? (6) = 1.00
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.07
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                          ...                         
      0.10                                       ...                            
      0.00.......................................                               
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 70.313, [0.8237]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00              ..                                                      
      0.90            ..  .                                                     
      0.80           .     ..                                                   
      0.70          .                                                           
      0.60         .         .                                                  
      0.50                    .                                                 
      0.40        .                                                             
      0.30       .             .                                                
      0.20      .               .                                               
      0.10     .                 .                                              
      0.00.....                   .........................................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -31.406, [0.9837]


NEXT policy
Angle Estimation Policy Begins
distance from path: 4.30
angle between my direction and the path: -14.28
side relative to the path: RIGHT
direction forward
position speed: 70.31
front wheels angle: -30.00
distance to a next point on the path: 4.81
angle change in the next point on the path:
0.00

FMSNote(003): Fuzzy Work Area Initialized
Empty FuzzySet 'ANGLE' created.
FMSNote(005): Output Variable 'ANGLE' added to Fuzzy Model.
Empty FuzzySet 'POSITION SPEED' created.
FMSNote(005): Output Variable 'POSITION SPEED' added to Fuzzy Model.
Empty FuzzySet 'WHEEL ANGLE' created.
FMSNote(005): Output Variable 'WHEEL ANGLE' added to Fuzzy Model.
Following are the premise truths for specific variables
How FAR is my distance? (1) = 0.00
How MEDIUM is my distance? (2) = 0.01
How SMALL is my distance? (3) = 0.57
(follows the recomended value for angle)

'CENTROID'     defuzzification. Value:      0.000, [0.5720]
Angle DIFFerence between "my dir." and "dir. I should go"-14.28
How much BAD is my angle? (4) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'BAD ANGLE' copied into Fuzzy set 'BAD ANGLE'
Hedge 'ZADEH' NOT applied to Fuzzy Set "BAD ANGLE"
How much (somehow) FAR is my distance? (5) = 0.00
How much is the angle NOT BAD? (5) = 1.00
Intersection of "far dist." and "not bad angle" (5) = 0.00

Empty FuzzySet 'NULL' created.
OK. Fuzzy set 'AROUND 0' copied into Fuzzy set 'AROUND 0'
Hedge 'ZADEH' NOT applied to Fuzzy Set "AROUND 0"
How SMALL is the distance to the next point on the path? (7) = 0.98
How much is the next angle change "NOT around 0"? (7) = 0.00
Intersection from "small next_point_dist" and "NOT around 0 next_angle_change." (7) = 0.00
Recomended front wheel angle computed from "diff" and current wheel angle: (7) = -32.86
How much should I take the previous angle in mind? (7) = 1.00

PI FuzzySet 'WHL ANG II' created.
Recomended angle affected by next_angle_change (7) = -30.00
(will be copied with premise truth 0.00)

PI FuzzySet 'WHEEL ANGLE ACCORDING TO RULE 7' created.
How much is the dist. small? (6) = 0.57
How much is the angle "around 0"? (6) = 0.20
How much DON'T I approach next point? (6) = 1.00
Intersection of "small dist." and "angle around 0" and "not approaching" (6) = 0.20
NEXT graph FuzzySet: POSITION SPEED
Description:
      1.00                                                              ...     
      0.90                                                         .....        
      0.80                                                      ...             
      0.70                                                    ..                
      0.60                                                  ..                  
      0.50                                                ..                    
      0.40                                               .                      
      0.30                                             ..                       
      0.20                                          ...                         
      0.10                                       ...                            
      0.00.......................................                               
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
      -100.00  -75.00  -50.00  -25.00    0.00   25.00   50.00   75.00  100.00
Domained: -100.00 to 100.00
'CENTROID' defuzzification. Value: 70.313, [0.8237]
NEXT graph

FuzzySet: WHEEL ANGLE
Description:
      1.00              ..                                                      
      0.90            ..  ..                                                    
      0.80           .      .                                                   
      0.70          .        .                                                  
      0.60                                                                      
      0.50         .          .                                                 
      0.40        .            .                                                
      0.30                                                                      
      0.20       .              .        ...                                    
      0.10      .                .  .....   .....                               
      0.00......                  ..             ..........................     
          0---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---0
       -60.00  -45.00  -30.00  -15.00    0.00   15.00   30.00   45.00   60.00
Domained: -60.00 to 60.00
'CENTROID' defuzzification. Value: -27.656, [0.8932]

....Releasing 'ANGLE' ....Releasing 'POSITION SPEED' FMSNote(009): Fuzzy Work Area Closed.