Please use this identifier to cite or link to this item: http://cmuir.cmu.ac.th/jspui/handle/6653943832/39963
Title: การตัดสินใจแบบฟัซซีสำหรับหุ่นยนต์ผู้รักษาประตู
Other Titles: Fuzzy Decision Making For Goalkeeper Robot
Authors: ผู้ช่วยศาสตราจารย์ ดร.ศันสนีย์ เอื้อพันธ์วิริยะกุล
ประเสริฐ ฉินสวัสดิ์พันธุ์
Keywords: หุ่นยนต์
วิศวกรรมคอมพิวเตอร์
Issue Date: 7-Aug-2557
Publisher: เชียงใหม่ : บัณฑิตวิทยาลัย มหาวิทยาลัยเชียงใหม่
Abstract: Control system and decision making in soccer robot are complex. This leads to an uncertain condition definition and incorrect robot command selection. In this work, we develop a system that controls goal keeper robot using Mamdani fuzzy inference system. In particular, the system will make a decision on robot movement to protect a goal from assessing football position in the field. The expert’s opinion is utilized to help in defining a suitable system structure, number of linguistic variables, membership functions, and rules. There are 3 experiments to show the efficiency of Fuzzy decision for goal keeper robot. The first experiment is to measure the accuracy of position assessment of football position in the field. The accuracy of identifying a correct area in the field is 95.58% with only 4.42 % incorrect identification. The system is able to assess the football position correctly and that leads to a suitable controlled robot movement techniques, i.e., Followball or Intercepball. The fuzzy decision making system for goalkeeper robot efficiency is shown in the second experiment. We implement a goal protecting system with penalty shooting in 40 different positions with 2000 shooting at each position. The result shows that the system can protect a goal 99.9%. We implement the fuzzy decision making system for goalkeeper robot in a simulated game situation in the third experiment. There are 50 simulated game situations with 3 minutes in each game. The system is able to protect the goal 98.97%. From the study, our system is able to make a good decision and able to assess varied situations in the field. The goalkeeper robot is able to protect the goal from opponent. However, to help improve the system, we need to select proper membership functions.
URI: http://cmuir.cmu.ac.th/jspui/handle/6653943832/39963
Appears in Collections:ENG: Independent Study (IS)

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ABSTRACT.pdfABSTRACT185.52 kBAdobe PDFView/Open    Request a copy
APPENDIX.pdfAPPENDIX165.57 kBAdobe PDFView/Open    Request a copy
CHAPTER 1.pdf CHAPTER 1229.32 kBAdobe PDFView/Open    Request a copy
CHAPTER 2.pdfCHAPTER 2191.8 kBAdobe PDFView/Open    Request a copy
CHAPTER 3.pdfCHAPTER 3386.16 kBAdobe PDFView/Open    Request a copy
CHAPTER 4.pdfCHAPTER 4803.44 kBAdobe PDFView/Open    Request a copy
CHAPTER 5.pdf CHAPTER 5760.67 kBAdobe PDFView/Open    Request a copy
CHAPTER 6.pdfCHAPTER 6221.96 kBAdobe PDFView/Open    Request a copy
CONTENT.pdfCONTENT202.25 kBAdobe PDFView/Open    Request a copy
COVER.pdfCOVER357.86 kBAdobe PDFView/Open    Request a copy
REFERENCE.pdfREFERENCE198.22 kBAdobe PDFView/Open    Request a copy


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