AIN-Based Action Selection Mechanism for Soccer Robot Systems

Table 3

Actions of AIN-based ASM.

Ball chasing	When the concentration of ball is the highest, this action is selected by robot and it will chase toward the ball.
Opponent blocking	Robot moves to a point between opponent and ball to prevent opponent takes control of the ball. This action is taken when the concentration of opponent is the highest.
Space chasing	This action is only used when the concentration of ball is the highest and under the following condition: a) opponent is within 5 inches from robot, b) opponent and ball are in the same quadrant, and c) opponent is between robot and ball.