Fuzzy Logic Decision Maker on Indirect Sensor Fusion for Autonomous Mobile Soccer Robot (I'MROBOT3) Motion Control

Abstract

This paper propose the fuzzy logic algorithm for the decision making of an indirect sensor fusion which applied on soccer robot system. The inputs to the fuzzy system are feature-data extracted from both an embedded camera as an target sensor, and several numbers of ultrasonic sensors as obstacle sensor. The output from the fuzzy system is a decision in the form of a robot trajectory planning. Several experiment were performed in case that robot have to pursue a ball as a moving target while avoiding the static opponent. The results shown that the average success rate of the robot to complete the task is much more better than previous paper, which employ a direct sensor fusion using the Virtual Force Field method as a decision maker