Path planning and role selection mechanism for soccer robots

A real time vector field based path planning for an attack mode robot and a Petri net state diagram approach for the robot´s role selection for robot soccer games are proposed in the paper. A robot soccer game has a dynamic environment as different robots intentionally affect the environment in unpredictable ways in a competitive setting. A soccer-playing robot has to take appropriate action according to its surroundings. The efficiency and applicability of the proposed controllers were demonstrated through real robot soccer games in MiroSot´97, held at KAIST Korea, June 1-5, 1997