Design and implementation of heuristic intelligent attack algorithm in robot soccer system small size league

Federation of International Robot-Soccer Association (FIRA) is an association of international robot soccer federations were often held a robot playing soccer game in which one category is a small size robot soccer. This thesis consist of combined structured algorithms to form a decision-making system based on field conditions with the goal achievement levels of the game with better result and have an easier scalability developed structure. From the test results obtained, the implementation strategy of this collaboration can be implemented either through a series of field scale calibration in order to qualitatively optimal performance can be achieved.