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Autonomous intelligent decision-making system based on Bayesian SOM neural network for robot soccer

机译：基于贝叶斯SOM神经网络的机器人足球自主智能决策系统

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摘要

The complex confrontation in robot soccer match requires the decision-making system to learn the priori-knowledge given by humans and learn from its own experience. The two learning issues are usually addressed in two phases: off-line learning and on-line learning. Though lots of methods have been developed to address the two issues separately, the construction of a fully autonomous intelligent decision-making system remains challenging because of the difficulty of connecting the two phases. Most existing intelligent decision-making systems focus on only one of the two phases consequently. The model and algorithms of the Bayesian SOM neural network are proposed in this paper, based on which a fully autonomous intelligent decision-making system for robot soccer is built. This model provides a knowledge structure which can be shared by the off-line learning and on-line learning algorithms. By integrating the Bayesian classifier into each neuron, the whole neural network is equivalent to a multi-agent decision-making system. In the on-line learning phase, the Bayesian method is used to update each neuron's beliefs and the whole network's estimation of the state space. In matches with different opponents, this Bayesian SOM intelligent decision-making system showed outstanding learning ability and great adaptivity.
机译：机器人足球比赛中的复杂对抗需要决策系统学习人类给出的先验知识并从其自身经验中学习。这两个学习问题通常分为两个阶段：离线学习和在线学习。尽管已经开发出许多方法来分别解决这两个问题，但是由于很难将两个阶段联系起来，因此建立一个完全自动化的智能决策系统仍然具有挑战性。因此，大多数现有的智能决策系统仅关注两个阶段之一。提出了贝叶斯SOM神经网络的模型和算法，在此基础上构建了全自动足球机器人智能决策系统。该模型提供了一种可以由离线学习和在线学习算法共享的知识结构。通过将贝叶斯分类器集成到每个神经元中，整个神经网络相当于一个多主体决策系统。在在线学习阶段，贝叶斯方法用于更新每个神经元的信念以及整个网络对状态空间的估计。在与不同对手的比赛中，该贝叶斯SOM智能决策系统显示了出色的学习能力和很大的适应性。

著录项

  • 来源
    《Neurocomputing》 |2014年第27期|447-458|共12页
  • 作者

    Bin Chen; An Zhang; Lu Cao;

  • 作者单位

    School of Electronics and Information, Northwestern Polytechnical University, Xi'an, China;

    School of Electronics and Information, Northwestern Polytechnical University, Xi'an, China;

    School of Electronics and Information, Northwestern Polytechnical University, Xi'an, China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Robot soccer; Intelligent decision-making; Self-organizing map; Bayesian method;

    机译：机器人足球;明智的决策;自组织图;贝叶斯方法;

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