Fig. 4
From: Modeling and mobile home monitoring of behavioral and psychological symptoms of dementia (BPSD)
Fuzzy membership functions and fuzzy rules. a membership chart of speed, ranging from 0 to 1.3. SS: small speed, MS: middle speed, LS: large speed. b membership chart of deviations, ranging from 0 to 0.5. SD: small deviation, MD: middle deviation, LD: large deviation (c) membership chart of distance output, for which different output values were set depending on the room. VS: very small distance, S: small distance, M: middle distance, L: large distance, VL: very large distance (d) control rules. When the target speed is faster, the closer the robot follows, and vice versa, the farther it is. When the deviation of the target is larger, the closer the robot follows, and vice versa