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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/50530


    Title: AIN-Based Action Selection Mechanism for Soccer Robot Systems
    Authors: Wang, Yin-tien;You, Zhi-jun;Chen, Chia-hsing
    Contributors: 淡江大學機械與機電工程學系
    Date: 2009
    Issue Date: 2010-08-09 19:22:06 (UTC+8)
    Publisher: New York: Hindawi Publishing Corporation
    Abstract: Role and action selections are two major procedures of the game strategy for multiple robots playing the soccer game. In role-select procedure, a formation is planned for the soccer team, and a role is assigned to each individual robot. In action-select procedure, each robot executes an action provided by an action selection mechanism to fulfill its role playing. The role-select procedure was often designed efficiently by using the geometry approach. However, the action-select procedure developed based on geometry approach will become a very complex task. In this paper, a novel action-select algorithm for soccer robots is proposed by using the concepts of artificial immune network (AIN). This AIN-based action-select provides an efficient and robust algorithm for robot role selection. Meanwhile, a reinforcement learning mechanism is applied in the proposed algorithm to enhance the response of the adaptive immune system. Simulation and experiment are carried out to verify the proposed AIN-based algorithm, and the results show that the proposed algorithm provides an efficient and applicable algorithm for mobile robots to play soccer game.
    Relation: Journal of Control Science and Engineering 2009, pp.896310(10pages)
    DOI: 10.1155/2009/896310
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Journal Article

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