Strategy-based decision making of a soccer robot system using a real-time self-organizing fuzzy decision tree

Authors:
Han-Pang Huang;Chao-Chiun Liang
Affiliations:
Department of Mechanical Engineering, Robotics Laboratory, National Taiwan University, Taipei, Taiwan, ROC;Department of Mechanical Engineering, Robotics Laboratory, National Taiwan University, Taipei, Taiwan, ROC
Venue:
Fuzzy Sets and Systems - Special issue: Approximate Reasoning in Words
Year:
2002

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Abstract

In a soccer robot game, the environment is highly competitive and dynamic. In order to work in the dynamically changing environment, the decision-making system of a soccer robot system should have the features of flexibility and on-line adaptation. This paper proposed a strategy-based decision-making system for a soccer robot system. The decision system is based on the proposed self-organizing fuzzy decision tree (SOFDT). Due to event-driven strategies, the proposed decision-making system has the advantage of flexibility. The proposed SOFDT possesses simple, apparent, and fast generation/reasoning processes. The resultant system is a self-organizing strategy-based decision-making system. According to decision results, SOFDT can on-line modify its parameters and structure for achieving better adaptability and improvement. The performance of the proposed systems was verified by applying them to the simulation and experiment of 3-to-3 robot soccer games. The results are satisfactory.