An adaptive decision-making method with fuzzy Bayesian reinforcement learning for robot soccer

A robot soccer system is a typical complex time-sequence decision-making system. Problems of uncertain knowledge representation and complex models always exist in robot soccer games. To achieve an adaptive decision-making mechanism, a method with fuzzy Bayesian reinforcement learning (RL) is proposed in this paper. To extract the features utilized in the proposed learning method, a fuzzy comprehensive evaluation method (FCEM) is developed. This method classifies the situations in robot soccer games into a set of features. With the fuzzy analytical hierarchy process (FAHP), the FCEM can calculate the weights according to defined factors for these features, which comprise the dimensionality of the state space. The weight imposed on each feature determines the range of each dimension. Through a Bayesian network, the comprehensively evaluated features are transformed into decision bases. An RL method for strategy selection over time is implemented. The fuzzy mechanism can skillfully adapt experiences to the learning system and provide flexibility in state aggregation, thus improving learning efficiency. The experimental results demonstrate that the proposed method has better knowledge representation and strategy selection than other competing methods.