An approach for robot soccer path planning is proposed, which is based on conventional artificial potential field. In the robot court field, robots get repulsion position vector produced by obstacle robots and boundaries of robot court, and attraction position vector and angle by ball. All the vectors are used to result in the next path point so as to form a path which can avoid obstacles and get to the goal in the dynamic circumstance. The simulated experiments indicate that this approach achieves real time path planning for robot soccer.
