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Development of Attack Intention Extractor for Soccer Robot system  

박해리 (한국과학기술원 전자전산학과 전기 및 전자공학)
정진우 (한국과학기술원 전자전산학과 전기 및 전자공학과)
변증남 (한국과학기술원 전자전산학과 전기 및 전자공학)
Publication Information
Journal of the Institute of Electronics Engineers of Korea CI / v.40, no.4, 2003 , pp. 193-205 More about this Journal
Abstract
There has been so many research activities about robot soccer system in the many research fields, for example, intelligent control, communication, computer technology, sensor technology, image processing, mechatronics. Especially researchers research strategy for attacking in the field of strategy, and develop intelligent strategy. Then, soccer robots cannot defense completely and efficiently by using simple defense strategy. Therefore, intention extraction of attacker is needed for efficient defense. In this thesis, intention extractor of soccer robots is designed and developed based on FMMNN(Fuzzy Min-Max Neural networks ). First, intention for soccer robot system is defined, and intention extraction for soccer robot system is explained.. Next, FMMNN based intention extractor for soccer robot system is determined. FMMNN is one of the pattern classification method and have several advantages: on-line adaptation, short training time, soft decision. Therefore, FMMNN is suitable for soccer robot system having dynamic environment. Observer extracts attack intention of opponents by using this intention exactor, and this intention extractor is also used for analyzing strategy of opponent team. The capability of developed intention extractor is verified by simulation of 3 vs. 3 robot succor simulator. It was confirmed that the rates of intention extraction each experiment increase.
Keywords
Intention extraction; Soccer robot; FMMNN;
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