Intelligent control for vision-based soccer robots

Issue title: Innovational Soft Computing

Article type: Research Article

Authors: Kubota, Naoyuki^{a; b} | Kamijima, Shinichi^c

Affiliations: [a] Department of Mechanical Engineering, Tokyo Metropolitan University, 1-1 Minami-Osawa, Hachioji, Tokyo 192-0397, Japan | [b] PRESTO, Japan Science and Technology Agency | [c] Department of Human and Artificial Intelligence System, University of Fukui, 3-9-1 Bunkyo, Fukui 910-8507, Japan

Abstract: This paper proposes multi-objective behavior coordination based on fuzzy control and perceptual system for vision-based mobile robots used as a soccer robot. The perception can be assumed as a searching process of information that can navigate an agent toward a target state in real-time. In this paper, we propose a time-series of a searching method based on a steady-state genetic algorithm for the visual perception. The search of the target objects such as a ball and a goal is done in the multi-resolutional image. Next, we propose multi-objective behavior coordination with fuzzy controller for soccer robots. The relative position and size of the ball and goal are used as inputs to the fuzzy controller. Finally, we show several experimental results of vision-based soccer robots.

DOI: 10.3233/KES-2006-10108

Journal: International Journal of Knowledge-based and Intelligent Engineering Systems, vol. 10, no. 1, pp. 83-91, 2006