ain-based action selection mechanism for soccer robot systemsain-based足球机器人系统的行为选择机制.pdfVIP

Hindawi Publishing Corporation Journal of Control Science and Engineering Volume 2009, Article ID 896310, 10 pages doi:10.1155/2009/896310 Research Article AIN-Based Action Selection Mechanism for Soccer Robot Systems Yin-Tien Wang, Zhi-Jun You, and Chia-Hsing Chen Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, 151 Ying-Chuan Road, Tamsui, Taipei Hsien 25137, Taiwan Correspondence should be addressed to Yin-Tien Wang, ytwang@.tw Received 10 May 2008; Revised 18 January 2009; Accepted 12 February 2009 Recommended by Benoit Boulet 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. Copyright © 2009 Yin-Tien Wang et al. This is an open access article distributed under