Path planning and role selection mechanism for soccer robots

A real time vector field based path planning for an attack mode robot and a Petri net state diagram approach for the robot's role selection for robot soccer games are proposed in the paper. A robot soccer game has a dynamic environment as different robots intentionally affect the environment in unpredictable ways in a competitive setting. A soccer-playing robot has to take appropriate action according to its surroundings. The efficiency and applicability of the proposed controllers were demonstrated through real robot soccer games in MiroSot'97, held at KAIST Korea, June 1-5, 1997.