Real Time Robot Soccer Game Event Detection Using Finite State Machines with Multiple Fuzzy Logic Probability Evaluators

Figure 15

Six real time frames to decide charging foul behavior (a-b) The attacker is approaching the goalkeeper from the side area (c) Two robots are about to collide (d) The attacker strikes the goalkeeper (e-f) The goalkeeper bounces backward and the ball goes into the goal area (Note that the arrow head in between robots is the ball position).