Abstract: Strategy system of smallsize Robocup robot is a multiagent system of coordination and control, which mainly includes vision information processing, coordination tactics, role assignment, action implementation and so on. To do research for role assignment in this paper, a role assignment algorithm of optimal combinatorial path cost is proposed and realizes whole design of dynamic role assignment based on Play tactics. The test of simulation platform shows that ability of overall cooperation is improved greatly.

Key words: Robocup, strategy system, role assignment, path cost, Play tactics