E.A. Maravillas and E.P. Dadios
ROBOT SOCCER, GAME STRATEGY, hierarchical control, cooperative behavior, autonomous mobile robots, fuzzy logic
The thrust of this paper is to design and implement a hierarchical control for the cooperative behavior of autonomous mobile robots using fuzzy logic systems with 5 vs. 5 Mirosot as the platform for its investigation. Our strategy is to identify the state of the game, offense or defense, using a fuzzy logic main-task-identifier. During offense a fuzzy control system is used by the ball handler to decide whether to shoot, pass, or just dribble the ball. To ensure success for these tasks, they are preceded by lane checking activity to assign a lane free of obstacles. Experimental results show that the proposed strategy is effective and robust.
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