Fuzzy Obstacle Avoidance Based on GA in Robocup Soccer Competition

In the Small Soccer Robocup Game(F-180),with the increasing requirement on the system real-time manoeuvre and the move capability,the self obstacle-avoidance,based on local sensor and local processor has gained greater importance today. Fuzzy control needs neither exact information of environments,nor huge amount of calculation,but it has the lack of study ability,and it's not easy to set fuzzy rules of the system.In this paper,a fuzzy strategy for the self obstacle-avoidance of F-180 soccer robot has been studied,and GA is used for fuzzy rules' on-line building,abstraction and optimization,and a fitness function is provided.The simulation result proves the applicability.