A new method of motion deadlock resolving by using fuzzy decision in robot soccer games is proposed in this paper. For the reasons of complex competition tasks and limited intelligence, soccer robots fall into motion deadlocks in many conditions, which is very difficult for robots to decide whether it is needed to retreat for finding new opportunities. Based on the analysis of human decision for dealing with these kinds of motion deadlocks, the fuzzy decision method is introduced in this paper.

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... Then, fuzzy rules based deadlock resolving system is designed according to relative positions and orientations among robots and the ball in local regions. Lots of experiments by human experts and the fuzzy controller are implemented for comparison. Experimental results show that the method proposed is reasonable and efficient for motion deadlock resolving in most conditions for real soccer robot games.