Abstract
RoboCup is a competition where autonomous mobile robots play soccer. It was initiated to encourage development of intelligent robots. In the RoboCup, a role of goalie (a goalkeeper robot) is to prevent score by the shot from an opponent robot. For the goalie it is demanded to be highly precise, and to move quickly to the ball course to minimize shoot course. In this paper we present algorithm of goalie self-positioning, prediction of the ball course, calculation of the ball height in a loop shot, and present control algorithm for the goalie movement to a specified point in front of the goal.
