Path planning is an essential task in robot soccer. The purpose of path planning brings a robot to quickly achieve a desired location. showing that the robot has a better chance to shoot or dribble a ball to a goal. Previous work in path planning adopted sensors such as sonars and lasers to obtain local information to avoid obstacles and reach to a goal. https://www.ealisboa.com/top-save-RE-DESIGNED-Strikketoy-oppbevaring-Prosjekt-27-Sort-100-Skinn-great-save/