Behavior control for a humanoid soccer player using Webots

In this paper the behavior control system developed for a humanoid soccer player is presented, according to the current rules established by the International RoboCup Federation. It is important to point out that this work deals only with field players, excluding the goalkeeper. The behavior control is modeled as a finite-state automaton, which comprises activities as: visual perception (self localization, ball localization, movement estimation), behavior control and game strategies. The developed system is implemented in Webots, which is the official simulation platform used in the RobotStadium league of RoboCup. The results obtained are shown and the path to improve the developed system in our humanoid soccer players is established as future work.