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Dribbling an opponent player in digital soccer environment is an importantpractical problem in motion planning. It has special complexities which can begeneralized to most important problems in other similar Multi Agent Systems. Inthis paper, we propose a hybrid computational geometry and evolutionarycomputation approach for generating motion trajectories to avoid a mobileobstacle. In this case an opponent agent is not only an obstacle but also onewho tries to harden dribbling procedure. One characteristic of this approach isreducing process cost of online stage by transferring it to offline stage whichcauses increment in agents' performance. This approach breaks the problem intotwo offline and online stages. During offline stage the goal is to find desiredtrajectory using evolutionary computation and saving it as a trajectory plan. Atrajectory plan consists of nodes which approximate information of eachtrajectory plan. In online stage, a linear interpolation along with Delaunaytriangulation in xy-plan is applied to trajectory plan to retrieve desiredaction.

Generating Motion Patterns Using Evolutionary Computation in Digital Soccer