I. Introduction
Robot soccer game is a kind of high-tech confrontation which has been developed quickly all over the world in recent years, involving artificial intelligence, intelligent control, robots, communication, sensing and institutions, and cutting-edge technology integration in other fields. It is a coalition of high technology, entertainment and competition, arousing the social attention and interest. At present, there are a variety of different types of robot competitions in the world, such as soccer robots, fire-fighting robots, the robot sumo, robot shooting, etc., among which the Robocup is the most conspicuous.