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Fuzzy Q-Learning Integration to RoboSoccer Presented by Alp Sardağ.

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Presentation on theme: "Fuzzy Q-Learning Integration to RoboSoccer Presented by Alp Sardağ."— Presentation transcript:

1 Fuzzy Q-Learning Integration to RoboSoccer Presented by Alp Sardağ

2

3 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.

4 FIS

5 FIS Update Rule The ideal form of error calculation: The approximated error:

6 FIS Update Rule Both update rules are Widrow-Hoff rule:

7 Exploration-Exploitation Technique  Mixed search : directed+undirected

8 Undirected Part Reducing s f will reduce the undirected part.

9 Directed Part

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