Path Searching Algorithms of Multiple Robot System Applying in Chinese Chess Game

Abstract

Chinese chess game [1] is one of the most popular games. A two-player game with a complexity level is similar to Western chess. In the recent, the Chinese chess game has gradually attracted many researcher’s attention. The most researchers of the fields are belong to expert knowledge and artificial intelligent. There are many evolutionary algorithms to be proposed. Darwen and Yao proposed the co-evolutionary algorithm to solve problems where an object measure to guide the searching process is extremely difficult to device [2]. Yong proposed multi-agent systems to share the rewards and penalties of successes and failures [3]. Almost all the chess game can be described by game tree. Game tree presents the possible movements and lists all situations for the Chinese chesses. We want to use the multi-robots system to present the scenario of the chess movement for the Chinese chess game, and play the Chinese chess game according to the real-time image feedback to the supervised computer via wireless image system. The application of co-evolutionary models is to learn Chinese chess strategies, and uses alpha-beta search algorithm, quiescence searching and move ordering [4]. Wang used adaptive genetic algorithm (AGA) to solve the problems of computer Chinese chess [5]. Lee and Liu take such an approach to develop a software framework for rapidly online chess games [6]. Zhou and Zhang present the iterative sort searching techniques based on percentage evaluation and integrate percentage evaluation and iterative sort into problem of Chinese chess computer game [7]. Su and Shiau developed smart mobile robots to speak real-time status using voice module, and program the motion trajectories for multiple mobile robot system [8]. With the robotic technologies development with each passing day, robot system has been widely employed in many applications. Recently, more and more researchers are interest in the robot which can helps people in our daily life, such as entertaining robots, museum docent robots, educational robots, medical robots, service robots, office robots, security robots, home robots, and so on. In the future, we believe that intelligent robots will play an important role in our daily life. In the past literatures, many experts researched in the mobile robot, and proposed many methods to enhance the functions of the mobile robot [9]. So far, developing a big sized mobile robot to be equipped with many functions to become