  The robot soccer game based complex motion control has been widely studied
for the moving object capture and shooting. A position prediction algorithm
based on global vision is introduced in order to improve the accuracy and
robustness of the vision system for tracking moving objects, including a
Kalmanfiter, a dynamic window and an obstacle avoidance strategy. This paper
deals with the positon prediction for moving ball by using Kalmanfiter and the
Fuzzy Controller for shooting action in a dynamic environment.
