The set of rules required to move through a door is that we need to press the button first, and then move through the door when it's ready. The rules, displayed in Table 31.1, reflect the simplicity of the task, involving only four fuzzy terms.
Table 31.1. The Fuzzy Rules That Control the Animat While It Opens and Moves Through an Arbitrary Door
It's important to note that this set of fuzzy rules relies on being
In brief, the behavior does need to specify to stop turning toward the button; in rule 1, the membership value of the action will drop toward 0 when the button is pressed. The same applies for the movement.
Ladders are equally simple to deal with by using fuzzy rules. The hardest work has been done by the time the rules are written. To climb a ladder, the animat must first move toward it and grab hold of it (handled automatically). Then, it must look up and press forward until the top of the ladder is reached, at which point the animat can look ahead to dismount. Table 31.2 lists the fuzzy rules that express this.
Table 31.2. Set of Fuzzy Rules That Guide an Animat Toward a Ladder, Up the Rungs, and Dismount at the Top
Once again, we'll assume that these fuzzy rules are no longer called by the higher-level AI after the animat has dismounted from the ladder. These fuzzy rules are only expected to be applied to their intended domain.
The use of platforms involves more actions in the sequence than the previous two behaviors. Consequently, the rulebase is slightly more complex, but the principles
Table 31.3. A Longer Sequence of Rules Needed for the Animat to Climb onto Platforms, Wait, and Disembark
Again, we assume the behavior is disengaged after the platform has been dismounted. By making the rules as specific as possible, we can also avoid having to specify behaviors such as "stop looking toward the platform."