  This paper considers a problem of planning an attack in robotic football
(RoboCup). The problem is reduced to finding a trajectory of the ball from its
current position to the opponents goals. Heuristic search algorithm, i.e. A*,
is used to find such a trajectory. For this algorithm to be applicable we
introduce a discretized model of the environment, i.e. a graph, as well as the
core search components: cost function and heuristic function. Both are designed
to take into account all the available information of the game state. We
extensively evaluate the suggested approach in simulation comparing it to a
range of baselines. The result of the conducted evaluation clearly shows the
benefit of utilizing heuristic search within the RoboCup context.
