Double target potential field: Planning the movement on passing and kicking the ball in soccer robot

This paper describes the development of Potential Field (PF) method which is implemented in multi cooperative autonomous vehicle with a case study in robotic soccer. This method, called Double Target Potential Field (DTPF), increase the effectiveness of the vehicle movement to achieve the goal of passing the ball and kicking the ball into the goal. This research was conducted by simulating robot movement using Borland Delphi 6.0. There are ten tests which were being done by placing robot and ball in different condition. The test results show this method can effectively direct the ball to the desired target with an accuracy of 85-95% although the time required to achieve a ball is 30-50% longer than usual PF method due to the many movements a vehicle has to take (in order to turn). With this method, planning the movement of each vehicle in a team can be more easily managed in the team strategy module.