Grammatical Evolution Algorithm for Position Prediction of the Ball in Robot-Soccer Goal Keeper Optimization

  • Aulia El Hakim
  • Dadan Nur Ramdan
  • Indra Hidayatulloh
  • Ary Setijadi Prihatmanto
  • Estiko Rijanto
Part of the Communications in Computer and Information Science book series (CCIS, volume 376)


Position prediction of the ball that approaches to the goal is necessary for a goalkeeper robot. In this paper, grammatical evolution is used for prediction. Grammatical evolution will be tested on grammar with linear characteristic. Data used in this research was taken from the Y-axis coordinate of the Ball and divide into 3 Home area. The research focuses on two conditions of the ball: straight movement and bouncing off the wall. From the results of this study, it was obtained three functions which can be used to predict position of the ball in goal area. The smallest mean of fitness value is 1.24729 for straight movement and 2.64366 for bouncing off the wall conditions.


Grammatical evolution position prediction robot soccer goalkeeper 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Aulia El Hakim
    • 1
  • Dadan Nur Ramdan
    • 1
  • Indra Hidayatulloh
    • 1
  • Ary Setijadi Prihatmanto
    • 1
  • Estiko Rijanto
    • 2
  1. 1.School of Electrical Engineering and InformaticsBandung Institute of TechnologyBandungIndonesia
  2. 2.Research Center For Electrical Power and Mechatronics- LIPIBandungIndonesia

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