In order to increase the shooting times and shooting effects and on the analysis of the human soccer tape extraordinary technology, this paper introduce cosine curve into the goal line of robot.

• 为提高足球机器人在比赛中的射门次数,以及射门效率,在分析了人类足球中盘带过人等技术的基础上,引入余弦曲线作为机器人射门路线。