Robot Soccer Control Using Behaviour Trees and Fuzzy Logic

Running time, flexibility and on-line adaptation are important features presenting to the decision making (DM) module of soccer robots. In this paper, the design of DM algorithm based on behaviour trees and fuzzy obstacle avoidance algorithm for control of soccer robots are presented. The basic elements of the behaviour tree (BT) used in decision making process of soccer robots are described. The integration of BT and fuzzy logic is proposed to increase the flexibility of the decision made by DM modules. Given algorithms have been extensively tested in simulation and provided satisfactory results in run time and adaptation to the new situation. Also, the efficient navigation procedure is designed using fuzzy obstacle avoidance algorithm. The obstacle avoidance algorithm uses fuzzy if-then rule base and inference mechanism for finding optimal path for avoidance of obstacles. The presented BT based decision making and fuzzy obstacle avoidance algorithms are used for control of the holonomic 4-wheel-driven soccer robots. The obtained results demonstrate the effectiveness of proposed algorithms in soccer robot control.