Optimal fuzzy passing strategy for robot soccer players

This paper presents the implementation of an intelligent pass strategy for soccer robots using fuzzy logic. The proposed strategy calculates pass confidence and detects the best destination robot and best position for passing. The most important factors of a proper pass are detected and are deployed to construct the inputs of fuzzy system. The rule base of the fuzzy system is extracted by utilizing the expert knowledge. The performance of fuzzy inference system is improved by optimally determining the fuzzy membership functions using an evolutionary algorithm. In order to evaluate the designed system a visual simulation environment is prepared which enables the user to arrange players and to implement the designed strategy to detect the best destination player and send the ball.