Intuitionistic Fuzzy Algorithm of Situation Assessment for Soccer Robot
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摘要: 针对足球机器人赛场的态势评估问题，提出了一种赛场态势评估的直觉模糊算法，首先建立了直觉模糊综合评判模型，接着制定态势评估所需的指标体系，并给出了评判指标的效用值计算等度量问题和指标值的规范化方法，最后结合德尔菲和层次分析法来确定评估指标的权重向量。实验表明，该评估方法计算复杂度小，在赛场评估中可给出有效的综合评价，具有较高的可信性。Abstract: For the situation assessment in soccer robots game, an intuitionistic fuzzy algorithm of the situation assessment for competition field is proposed. Firstly, an intuitionistic fussy comprehensive evaluation model is established. Then, the index system needed for situation assessment is established, and the approaches to effectiveness measures for evaluating goals and normalization of their values are given. Finally, Delphi and Analytic Hierarchy Process are used to determine the weight vector of the evaluation index. The experimental results shows that the present assessment method has a small computational complexity. It can be used to give an effective comprehensive evaluation in game assessment with a higher dependability.
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Key words:
- situation /
- assessment /
- intuitionistic fuzzy /
- comprehensive evaluation /
- AHP
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表 1 足球机器人赛场态势评估体系
Ai Aij RR Wij BT BR GD MD BD WR WT A1=0.3 A11 0 0 0.1 0.1 0.3 0.3 0.2 0.220 4 A12 0 0 0 0.1 0.4 0.3 0.2 0.207 9 A13 0 0 0 0.2 0.3 0.3 0.2 0.311 8 A14 0 0 0.1 0.1 0.2 0.3 0.3 0.155 9 A15 0 0 0.2 0.1 0.1 0.3 0.3 0.103 9 A2=0.25 A21 0 0 0.2 0.1 0.2 0.2 0.3 0.352 9 A22 0 0 0.2 0.1 0.2 0.2 0.3 0.235 3 A23 0 0 0.2 0.1 0.1 0.2 0.4 0.117 6 A24 0 0 0.1 0.1 0.1 0.4 0.3 0.294 1 A3=0.25 A31 0 0 0.2 0.1 0.1 0.3 0.3 0.304 3 A32 0 0 0 0.2 0.2 0.5 0.1 0.217 4 A33 0 0 0.1 0.1 0.2 0.3 0.3 0.217 4 A34 0 0 0.1 0.2 0.3 0.3 0.1 0.260 9 A4=0.2 A41 0 0 0.1 0.2 0.3 0.2 0.2 0.461 5 A42 0 0 0 0.2 0.3 0.3 0.2 0.230 8 A43 0 0 0 0.2 0.3 0.3 0.2 0.307 7 注: Ai为准则层, Aij为指标层, RR为直觉模糊度, Wij为权重, A1为控球能力, A2为配合默契度, A3为历史记录, A4为球策略, A11为我方控球时间, A12为敌方控球时间, A13为我方控球度, A14为敌方控球度, A15为球周围人数, A21为传球状态, A22为补漏状态, A23为团队密集度, A24为防守状态, A31为历史比分, A32为传球成功率, A33为前后场时间, A34为威胁次数, A41为球坐标, A42为球速度, A43为球门方向。 
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表 2 直觉模糊度量值库
BT BR GD MD BD WR WT 0.0 0.0 0.0 0.0 0.0 0.5 0.5 0.0 0.0 0.0 0.0 0.1 0.4 0.5 0.0 0.0 0.0 0.0 0.2 0.3 0.5 0.5 0.4 0.0 0.1 0.0 0.0 0.0 0.5 0.4 0.1 0.0 0.0 0.0 0.0 0.5 0.5 0.0 0.0 0.0 0.0 0.0
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表 3 指标层对准则层的判断矩阵
指标 控球能力 配合默契度 历史记录 球策略 w 控球能力 1 6/5 6/5 6/4 0.3 配合默契度 5/6 1 1 5/4 0.25 历史记录 5/6 1 1 5/4 0.25 球策略 4/6 4/5 4/5 1 0.2
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表 4 防守反击对赛场态势的影响
Ai Aij RR BT BR GD MD BD WR WT A1 A11 0.2 0.3 0.1 0.1 0.3 0 0 A12 0 0.1 0 0.1 0.3 0.3 0.2 A13 0.2 0.4 0.2 0.2 0 0 0 A14 0 0 0 0.1 0.2 0.4 0.3 A15 0.3 0.3 0.2 0.2 0 0 0 A2 A21 0.3 0.2 0.3 0.2 0 0 0 A22 0.2 0.3 0.2 0.3 0 0 0 A23 0.1 0.2 0.3 0.2 0.2 0 0 A24 0.2 0.2 0.2 0.3 0.1 0 0 A3 A31 0.3 0.3 0.2 0.2 0 0 0 A32 0.4 0.4 0.2 0 0 0 0 A33 0.1 0.1 0.3 0.3 0.2 0 0 A34 0.2 0.2 0.2 0.3 0.1 0 0 A4 A41 0.3 0.3 0.2 0.2 0 0 0 A42 0.3 0.2 0.3 0.2 0 0 0 A43 0.2 0.3 0.2 0.3 0 0 0
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表 5 1000拍三种态势评估体系效果
评估体系 评估正确拍数 有效进攻拍数 有效防守拍数 耗时/s 基于直觉模糊 934 627 352 15.34 基于隐马尔科夫 525 232 156 15.45 基于贝叶斯理论 486 257 135 20.00
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表 6 前500拍三种态势评估体系效果
评估体系 评估正确拍数 有效进攻拍数 有效防守拍数 基于直觉模糊 450 324 166 基于隐马尔科夫 376 156 107 基于贝叶斯理论 249 123 69
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表 7 后500拍三种态势评估体系效果
评估体系 评估正确拍数 有效进攻拍数 有效防守拍数 基于直觉模糊 484 303 186 基于隐马尔科夫 149 76 49 基于贝叶斯理论 239 134 66
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