Hierarchical Case-Based Reasoning Behavior Control for Humanoid Robot

Abstract

Abstract. Behavioral control for an autonomous humanoid robot is a very complex problem, especially in the RoboCup domain. This is due to the dynamics of the environment and the complexity of behaviors that should be executed in real-time. This paper presents a new behavioral control model that depends on case-based reasoning. It is applied for humanoid soccer robot. It consists of a hierarchy of four levels, the first level is to decide robot role as attacker, the second level is decide which skill to execute as goal-scoring, dribbling or pass, the third level is to determine the behaviors of each skill as kicking or walking and the fourth level is to adapt lower-level behaviors as distance to walk and angel of kick. The behavior control is implemented in the framework of Webots Simulation tool for (NAO) humanoid robot. We achieve an average good accuracy that reaches 86.5 %. 1.