Evolutionary learning of fuzzy control in robot soccer

In this chapter an evolutionary algorithm is developed to learn a fuzzy knowledge base for the control ofa soccer micro-robot from any configuration belonging to a grid of initial configurations, to hit the ball along the ball to goal line ofsight. A relative coordinate system is used. Forward and reverse mode of the robot and its physical dimensions are incorporated, as well as special considerations to cases when in its initial configuration, the robot is touching the ball.