抄録
This research is aimed at the realization of system for coordinated action in response to a variety of field conditions in RoboCup middle-size league. Therefore, to estimate the path position depending on the situation by using a particle filter. Also, to realize the path by selecting the success rate of a path is high robot in ally of the robot. Simulation results of this approach, take a sufficient distance and opponent robots in performing the path, and can select a valid path partner, allowing the path depending on the situation.
