Figure 9. Path planning with algorithm of potential fields

Since the motion trajectory of each robot is divided into several median points that the robot
should reach them one by one in a sequence the output obtained after the execution of AI will be a
set of position and velocity vectors. So the task of the trajectory will be to guide the robots through
the opponents to reach the destination. The routine used for this purpose is the potential field
method (also an alternative new method is in progress which models the robot motion through
opponents same as the flowing of a bulk of water through obstacles). In this method different
electrical charges are assigned to our robots, opponents and the ball. Then by calculating the
potential field of this system of charges a path will be suggested for the robot. At a higher level,
predictions can be used to anticipate the position of the opponents and make better decisions in
order to reach the desired vector.