International Journal of Computer Games Technology / 2009 / Article / Tab 2

Research Article

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

Table 2

Detail description of Fuzzy Logic Probability Evaluators (FLPEs).

NumberName (description)Type

FLPE1Probability Combiner
It gives the probability of the event occurrence composed of two subevents by combining
probabilities of two subevents (See Section 4.2 and Figure 7)

FLPE2Collision DetectorComposite
It gives the probability of the collision between two robots. It is composed of FLPE3 and
FLPE8 (See Section 4.2 and Figure 7)

FLPE3“Hitting” type Collision DetectorComposite
It gives the probability of the “Hitting” type collision between two robots. It is composed of
FLPE4, FLPE5, FLPE6, and FLPE7

FLPE4A robot moves close toward another robotBasic
It gives the probability of the primitive event occurrence that a robot moves close toward another
robot using inaccurate and insufficient data (See Section 4.3 and Figure 7)

FLPE5A robot swiftly decreases its speed near another robotBasic
Same as FLPE4 with the event mentioned in the name. This FLPE uses 2 input variables
namely, (1) variation of the speed of a robot decreasing its speed (Sv) and (2) Distance between
two robots (Dr)

FLPE6A goalkeeper moves perpendicular to the goal lineBasic
Same as FLPE4 with the event mentioned in the name. This FLPE uses 2 input variables
Namely, (1) angle of a goalkeeper movement (θ g) and (2) Speed of a goalkeeper movement (Sg).

FLPE7A robot moves not to the ball when the ball is nearBasic
Same as FLPE4 with the event mentioned in the name. This FLPE uses 3 input variables
Namely, (1) probability of the ball being very near to the robot (P), which will be given by
FLPE10, (2) angle difference between the SV of a robot and the DV of a robot to the ball (θ db).
and (3) speed of a robot movement (Sr).

FLPE8“Pushing” type Collision DetectorComposite
It gives the probability of the “Pushing” type collision between two robots. It is composed of
FLPE4, FLPE5, and FLPE9

FLPE9Two robots move togetherBasic
Same as FLPE4 with the event mentioned in the name. This FLPE uses 2 inputs, namely, (1)
angle difference between the SV of two robots (θ dr) and (2) Speed difference of the two robots (Sd).

FLPE10The ball is near to a robotBasic
There are two modes for FLPE10. The first is to check if the ball is very near to a robot as to
inspect if a robot hits the ball. The second is to check if the ball is considerably near to a robot
as to inspect if the ball is coming to a goalkeeper.

FLPE11The ball is between two robotsComposite
It gives the probability that the ball is between two robots. It is used to check the location
of the ball when “pushing” happens. If the ball is
between two robots, “pushing” is legal if it is outside the goal area

FLPE12The ball position is on or beyond the goal lineBasic

FLPE13The ball is almost not movingBasic

FLPE14The ball position is outside the goal area and inside the soccer field Basic

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