Integrated offensive maneuver using hierarchical hybrid structure for robot soccer

In this paper, an integrated maneuver using hierarchical hybrid structure to both decision making system and control system is proposed. This maneuver combined with leader-follower formation approach can accomplish the attacking task availably for robot soccer. Two robots on which omni-directional vision cameras are mounted can be organized to form a sub-team for the offensive target. The experimental results demonstrate that our strategy can maximize the effectiveness in robot soccer match.