Game of Spheros: A Real-World Pursuit-Evasion Game with Type-2 Fuzzy Logic

In this paper, we will present the novel application of Type-2 (T2) fuzzy logic to solve a real-time pursuit-evasion game problem with the spherical droids Sphero 2.0 and BB8 (products of the Sphero company). The game scenario is constructed as the evader droid BB8 is controlled by a human user while the pursuer droid Sphero 2.0 is navigated through the game environment via the proposed T2 fuzzy pursuing system. The proposed T2 fuzzy pursuing system structure is composed of vision based localization, the error signal generator, T2 fuzzy strategy planner and the control system. The T2 fuzzy strategy planner is the key structure of the pursuing system since it generates the reference trajectories to be followed by the pursuer droid Sphero 2.0. In this paper, we have transformed design guidelines presented for T2 fuzzy logic controllers into two pursuing strategies for the first time in literature. The performances of the proposed T2 fuzzy strategies have been examined by providing comparative experimental results performed in the real-world game environment against a human user. We believe that this pioneer application of the T2 fuzzy logic in pursuit-evasion games will be an important step for a wider deployment in the research area of real world games.