A Hybrid Architecture of Case-Based Reasoning and Fuzzy Behavioral Control Applied to Robot Soccer

Abstract

In recent research, the robot architectures can roughly been divided into three design philosophies: deliberative robot architectures, reactive robot architectures and hybrid robot architectures. In this paper, we introduce our design of a hybrid architecture which combines a deliberative part using case-based reasoning (CBR) and a reactive part using fuzzy behavioral control. We employ the advantages of CBR and fuzzy behavioral control to provide an alternative method for building a robot and apply the robot in robot soccer. The main advantages of our architecture are learning capability, easy constructing of strategies and a short response time. We introduce several related research projects as background and put our main focus on the method to combine CBR and fuzzy behavioral control in this paper. According to our hybrid architecture, we construct a robot soccer player and execute it in the robot soccer simulator.