This paper describes the navigation system used for the UQ RoboRoos robot soccer team, runner up in the 1998 world RoboCup championships. The navigation system has been developed to cope with the dynamic environment of robot soccer. Two interacting levels of the system called the schema and cognitive levels resp'ectively, have been used to solve two orthogonal problems in spatial navigation: longterm planning and short-tenn motion control. A mechanism to compensate for the effects of sensor latency has been developed, overcoming the significant delay inherent in vision processing. This paper shows the performance of the system through the competition results, and the results of simulation.
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