| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 97 === The objective of this thesis is to develop the jump shot decision-making system and offensive/defensive decision-making system for the billiard robot by using Extension theory. The main purpose is to make billiard robot possess the imitation ability of how human beings to make the jump shot and offensive/defensive decision-making in the nine-balls pool games. The billiard robot will do the straight shot if there is no block ball, and execute jump shot、cushion offense shot or cushion defense shot in the block ball game of the nine-balls pool games.
The jump shot decision-making system and offensive/defensive decision-making system is developed by Extension theory, which can judge what is the best strategy (jump shot or cushion offense/defense shot) in the block ball game. If it is not suitable for using jump shot attack, the offensive/defensive decision-making system will judge to make offense cushion shot or defense cushion shot.
In the research, the CCD camera captures the image of the balls on the pool table. Then, the positions of the balls are calculated by the image processing technique and the developed software program (VB). If there is no block ball between the cue ball and the object ball, the billiard robot will make a straight shot to pocket the object ball. If there is a block ball between the cue ball and the object ball, the robot will evaluate the possibility of making a jump shot based on the two factors. They are (1)the distance between the cue ball and the block ball, and (2)the distance between the block ball and the object ball. The jump shot will be executed if the relationship of these distance conditions are appropriate. Otherwise, offensive/defensive decision-making system is be considered. The robot will culculate the hitting positions of cushion which are determined by the distances between the object ball, the cue ball and the rail of the table for decision-making. The system is developed by the following three conditions which are (1)the traveling distance from the cue ball to the hitting positions of cushion and to the object ball, (2)the offensive angle and (3) the distance between the object ball and the pocket by the Extension theory.
The offensive strategy of cushion means to pocket the object ball. The defense strategy is developed by the following four parameters which are (1)the distance between the cue ball and the object ball, (2)distance between the object ball and the corresponding pocket, (3)the angles between the cue ball, the object ball and the corresponding pocket and (4)the information of the block ball by the Extension theory. Finally, the billiard robot will execute the hitting command to let the cue ball contact the object ball and make a safety play.
The simulated and experimental results show that this developed offensive/defensive decision making system work very well in the pool game. According to the result of experiment, the successful possibility of straight shot、cushion offense shot and cushion defense shot all are more than 60%, and the successful possibility of jump shot is 40%. The billiard robot possess four ability of pocketing accomplish offense/defense and making a safety play to expect next better shot in order to win the billiard game successfully.
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