Improving the Goal-Shooting Skill Using a Genetic-Fuzzy System in the RoboCup Soccer Simulation League.

Most of the problems in the RoboCup soccer domain suffer from the noisy perceptions, noisy actions, and continuous state space. To cope with these problems, using Fuzzy logic can be a proper choice, due to its capabilities of inferring and approximate reasoning under uncertainty. However, designing the entire rule base of a Fuzzy rule base system (FRBS) by an expert is a boring and time consuming task and sometimes the performance of the designed Fuzzy system is far from the optimum, especially in cases that the available knowledge of the system is not enough. In this paper, a rule learning method based on the iterative rule learning (IRL) approach is proposed to generate the entire rule base of an FRBS with the help of genetic algorithms (GAs). The advantage of our proposed method compared to similar approaches in the literature is that our algorithm does not need any training set, which is difficult to collect in many cases; cases like most of the problems existing in the RoboCup soccer domain. As a test case, the goal-shooting problem in the RoboCup 3D soccer simulation league is chosen to be solved using this approach. Simulation tests reveal that with applying the rule learning method proposed in this paper on the goal-shooting problem, not only a rule base with good performance in goal-shooting skill can be obtained, but also the number of rules in the rule base can be decreased by using the general rules in constructing the rule base. [ABSTRACT FROM AUTHOR]