Fuzzy Q-Learning Integration to RoboSoccer Presented by Alp Sardag

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Fuzzy Q-Learning Integration toRoboSoccer
Presented by Alp Sardag
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(No Transcript)
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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.

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FIS
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FIS Update Rule
The ideal form of error calculation
The approximated error
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FIS Update Rule
Both update rules are Widrow-Hoff rule
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Exploration-Exploitation Technique

• Mixed search directedundirected

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Undirected Part
Reducing sf will reduce the undirected part.
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Directed Part