The conception of dynamic referencing circle was introduced, and a shooting algorithm for soccer robot was proposed to improve the shoot success ratio. The motion trail of the shooting robot looks like a Archimedean axiom in the proposed algorithm.

• 为提高足球机器人的射门成功率；在分析了几种射门算法存在不足之处的基础上；引入动态基准圆的概念；提出了一种运动轨迹采用近似阿基米德螺线的射门算法.