Hierarchical Behavior Structure for NAO Robot Utilizing Fuzzy Inference Systems

Playing soccer is not a simple task, and robot needs a hierarchical behavior structure to decide how to play at any situation during the game, in our previous work, we introduced a behavior structure for NAO humanoid robot. One significant task in playing soccer is proper decision making during the game, in this paper, to achieve better decision making, we benefited from fuzzy inference systems in "ball-handled" skill in the proposed behavior structure, first fuzzy inference system is benefited from mamdani product logic which is local, and the second one uses lucasiewicz logic which is global one, both systems are implemented and compared in this paper.