📄 fuzzy_controller.java
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package fuzzy_control;
public class Fuzzy_controller {
private double distance[][];
private double direction[][];
private double Matrix_strategy[][];
private double Final_strategy[][];
private int c;
matrix_com mc;
Fuzzy_controller(double dis[][],double dir[][])
{
distance=dis;
direction=dir;
Matrix_strategy=new double[7][11];
Final_strategy=new double[7][11];
c=0;
mc=new matrix_com();
Matrix_strategy();
}
private double calmax(double x,double y) //比较参数的大小,返回大值
{
if(x>=y)
return x;
else
return y;
}
private double calmin(double x,double y) //比较参数的大小,返回小值
{
if(x<y)
return x;
else
return y;
}
private double Control_strategy(double x,double y)
{
return (calmin(x,y));
}
private void Matrix_Union(double m1[][],double m2[][])
{
for(int i=0;i<7;i++)
for(int j=0;j<11;j++)
{
Final_strategy[i][j]=calmax(m1[i][j],m2[i][j]);
}
}
private void Matrix_strategy()
{
while(c<7)
{
for(int i=0;i<7;i++)
for(int j=0;j<11;j++)
{
Matrix_strategy[i][j]=Control_strategy(distance[6-c][i],direction[c][j]);
}
Matrix_Union(Matrix_strategy,Final_strategy);
c++;
}
}
public double [][]Get_strategy()
{
return Final_strategy;
}
}
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