Research Article Open Access

Position and Obstacle Avoidance Algorithm in Robot Soccer

Awang Hendrianto Pratomo1, Anton Satria Prabuwono1, Mohd Shanudin Zakaria1, Khairuddin Omar1, Md Jan Nordin1, Shahnorbanun Sahran1, Siti Norul Huda Sheikh Abdullah1 and Anton Heryanto1
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Journal of Computer Science
Volume 6 No. 2, 2010, 173-179


Submitted On: 25 January 2010 Published On: 28 February 2010

How to Cite: Pratomo, A. H., Prabuwono, A. S., Zakaria, M. S., Omar, K., Nordin, M. J., Sahran, S., Abdullah, S. N. H. S. & Heryanto, A. (2010). Position and Obstacle Avoidance Algorithm in Robot Soccer. Journal of Computer Science, 6(2), 173-179.


Problem statement: Robot soccer is an attractive domain for researchers and students working in the field of autonomous robots. However developing (coding, testing and debugging) robots for such domain is a rather complex task. Approach: This study concentrated on developing position and obstacle avoidance algorithm in robot soccer. This part is responsible for realizing soccer skills such as movement, shoot and goal keeping. The formulation of position and obstacle avoidance was based on mathematical approach. This formula is to make sure that the movement of the robot is valid. Velocity of the robot was calculated to set the speed of the robot. The positioning theory including the coordination of the robot (x,y) was used to find the obstacle and avoid it. Results: Some simulations and testing had been carried out to evaluate the usefulness of the proposed algorithms. The functions for shooting, movement and obstacle avoidance had been successfully implemented. Conclusion: The results showed its possibility could be used as strategy algorithms in real robot soccer competition.

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  • Position algorithm
  • obstacle avoidance algorithm
  • robot soccer strategy
  • autonomous robot