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