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).
 Number Name (description) Type FLPE1 Probability 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) FLPE2 Collision Detector Composite 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 Detector Composite It gives the probability of the “Hitting” type collision between two robots. It is composed of FLPE4, FLPE5, FLPE6, and FLPE7 FLPE4 A robot moves close toward another robot Basic 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) FLPE5 A robot swiftly decreases its speed near another robot Basic 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) FLPE6 A goalkeeper moves perpendicular to the goal line Basic 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). FLPE7 A robot moves not to the ball when the ball is near Basic 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 Detector Composite It gives the probability of the “Pushing” type collision between two robots. It is composed of FLPE4, FLPE5, and FLPE9 FLPE9 Two robots move together Basic 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). FLPE10 The ball is near to a robot Basic 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. FLPE11 The ball is between two robots Composite 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 FLPE12 The ball position is on or beyond the goal line Basic FLPE13 The ball is almost not moving Basic FLPE14 The ball position is outside the goal area and inside the soccer field Basic

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