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

Table 4

The heuristic knowledge for building the FAM in Table 3.

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(1) Let the linguistic probability terms VH and H belong to the set HIGH, let L and VL belong to the set LOW, and let M belong to the set MID

(2) For some elements h₁, h₂ of HIGH, m of MID, l₁, l₂ of LOW, the binary operation (•) in FLPE1 between two elements is defined as

 h₁ • h₂ = choose the higher probability term. Example, VH • H = VH

 l₁ • l₂ = choose the lower one. Example, VL • L = VL

 h₁ • m = choose the middle or the higher one. Example, H • M = H, VH • M = H

 l₁ • m = choose the lower one. Example, L • M = L

 h₁ • l₁ = choose the middle one (when there are two middle ones, choose the one near the lower one). Example, VH • L = M

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