Term formation control for soccer robot systems

In this paper, a tactic-based decision system is proposed for mobile robots playing soccer games. The decision system can provide a term formation and assign an applicable role to each robot according to the location of the ball in the soccer field. After the role is selected, the robot system has to construct a motion plan in order to approach the goal position at next time. The function of obstacle avoidance is also included in the motion control algorithm in case of the presence of enemy robots on the way to a goal position. A group of small-size robots with wireless communication is constructed and the integrated system is tested on a reduced-size soccer field to evaluate the practical usage of the developed system.