DECISION MAKING FOR MIROSOT SOCCER PLAYING ROBOTS

A key property of autonomous systems like mobile robots is their ability to make decisions by their own without a master or supervisor. In this paper, we describe a rule-based fuzzy decision making mechanism for a system, very similar to the MiroSOT robots. Unlike these MiroSOT robots, which are usually controlled by a master computer, the proposed decision making mechanism is integrated into an extended version of a MiroSOT robot. This allows the robot to make decisions and to act autonomously. In many cases, the decisions are based on local sensor data of the robot instead of global data obtained, e.g., from a global (camera) picture of the scene via the master computer.