Fuzzy Q-Learning Integration to RoboSoccer Presented by Alp Sardağ.

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Presentation transcript:

Fuzzy Q-Learning Integration to RoboSoccer Presented by Alp Sardağ

Inputs for Goal Keeper FIS  Distance to ball  Offset Heading  In case the ball not in the region of sight, the location tracking algorithm will provide the necessary info.

FIS

FIS Update Rule The ideal form of error calculation: The approximated error:

FIS Update Rule Both update rules are Widrow-Hoff rule:

Exploration-Exploitation Technique  Mixed search : directed+undirected

Undirected Part Reducing s f will reduce the undirected part.

Directed Part