Solving Navigation and Obstacle Avoidance in Soccer Robot using Case-Base Reasoning Technique

Obstacle avoidance is an important and crucial issue for mobile soccer robots given the robot’s dynamic environment. A robot faces obstacles in the playground, that are sometimes mobile, such as the opponent robots, teammate robots, and other obstacles such as the goals and flags, therefore its environment is in a completely dynamic state. The main idea of this article is to use case-based reasoning which uses past experiences to solve a new problem that is in some ways similar to a problem it has already encountered. The case-based reasoning database includes a series of ordered information on several previous cases that can be adapted to the new problem to the extent that the solution of the old problem can be adapted and modified to the new one. Traditional expert systems require problem-solving knowledge and Domain knowledge, while case-based reasoning does not need problem knowledge and focuses on finding similarities between the new problem and the previously solved ones. With this approach, learning is done through modifying existing laws and spending fewer resources.