Neuro-fuzzy controller to navigate an unmanned vehicle

SpringerPlus

Table 1 ANFIS situations

Situation	Antecedent	Consequent
*Case 1: donkey*
Distance donkey “D”	D = 10 m	Decrease the speed
Distance donkey “D”	D > 10 m	/
*Case2: existence of a vehicle on the road*
Distance from another vehicle on the road “D-V”	D_V =3 m	Change of position and Exceeding
Distance from another vehicle on the road “D-V”	D_V >3 m	/
*Case 3: traffic lights*
Color traffic lights “C”	C = Green	Move
Color traffic lights “C”	C = Red	Stop