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

Table 1

The states and actions taken for Figure 5.

State	Action
MSM	(1) Get information from vision system and initialize a state.
	(2) Give final decision
S0	(1) Use FLPE4 to calculate P(E1)
	(2) If (P(E1)>TP1) then go to S1. Else go to MSM and get next frame information.
S1	(1) Use FLPE3 to calculate P(E2) and FLPE8 for P(E 2^′) using P(E1) from S0 as the input of FLPE3 and FLPE8.
	(2) If (P(E2)>TP2) then go to S2
	Else If (P(E 2^′)>TP3) then go to S3
	Else go to MSM and get next frame information.
S2	(1) Use FLPE11 to calculate P(E3)
	(2) If (P(E3)>TP3) then go to S4. Else go to S3
S3	(1) Use FLPE10 to calculate P(E5)
	(2) If (P(E5)>TP5) then notify the MSM for occurrence of “goalkeeper charging” foul, Else go to MSM and get next frame information.
S4	(1) If the goalkeeper passes the goal line, then notify the MSM for occurrence of “goalkeeper charging” foul, Else go to MSM and get next frame information.
S5	(1) Use FLPEs to calculate P(E7), P(E8), and P(E9)
	(2) If (((P(E7)>TP7) or (P(E8)>TP8)) and (P(E9)>TP9)), then go to step 3, else exit
	(3) If (P(E6)>10 sec), then notify the MSM for occurrence of “stalemate,” Else go to MSM and get next frame information.