From: scooter@btopenworld.com   
      
   I'm trying to create a fuzzy controller for a vehicle to enable it to   
   steer around traffic cones. The controller will output a crisp value   
   equal to a steering force. Unfortunately I've run into a problem when   
   creating the rule set   
      
   Let's say I have these simple fuzzy variables:   
      
   DISTANCE_TO_CONE = {CLOSE, AVERAGE, FAR}   
      
   POSITION_TO_CONE = {TO_LEFT, TO_CENTER, TO_RIGHT}   
      
   STEERING = {STEER_LEFT, STEER_FORWARD, STEER_RIGHT}   
      
   now how do I create a rule such that if the cone is directly ahead and   
   close to the vehicle the vehicle will steer to the left *or* to the   
   right?   
      
   It seems that I can only create a  rule that makes the vehicle steer   
   in one direction:   
      
   if CLOSE and TO_CENTER then STEER_LEFT   
      
      
   Is there a way I can overcome this problem? Is defining the   
   POSITION_TO_CONE variable as follows a possibility?   
      
   POSITION_TO_CONE = {FAR_LEFT, SLIGHTLY_LEFT, SLIGHTLY RIGHT,   
   FAR_RIGHT}   
      
   If so how would this system then deal with a value equally situated in   
   SLIGHTLY_LEFT &  SLIGHTLY RIGHT?   
      
      
   thanks   
      
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