<![CDATA[The robot is a machine that can perform physical activity repeatedly, either with human control or works automatically with the use of artificial intelligence. In the process, the robot can perform various kinds of sports, one of which is a branch of football. Robot football match organized by the Federation of International Robot-Soccer Association (FIRA) consists of several categories, one of which Micro Robot Soccer Tournament (MiroSot). MiroSot is five to five games consisting of a robot measuring 7.5 cm x 7.5 cm x 7.5 cm were able to move and adapt to the environment without human intervention. Currently Informatics UPN "Veteran" Yogyakarta began to develop MiroSot but there are still some problems found that the movement of the robot is irregular, so that frequent collisions of the robot opponent. So it takes a function to avoid obstacles on the robot MiroSot. Capitalize knowledge of Obstacle Avoidance of the book "Soccer Robotics" [1], the function of avoiding obstacles using the potential field based navigation univector algorithm to determine the future path of the robot and dodge the functionality tailored to the characteristics of the robot MiroSot Information Engineering UPN "Veteran" Yogyakarta. The program is created using programming language C ++ with Visual Studio 2008 IDE and sent to the robot from the main computer via radio frequency, the robot can move properly using speed camera support above 50 frames per second as robot vision. Function to avoid obstacles on the robot defender position MiroSot in the Departement Informatics of UPN "Veteran" Yogyakarta made this using the function position to move towards the goal and using mathematical calculations to determine the movement path avoiding obstacles based on potential field. In the development of this function can avoid obstacles in the form of a robot team, not only the robot opponent avoided. When the moving speed of the robot was given control of the speed depends on the distance of the destination position or positions are also obstacles. The use of sensors gyroscrope expected to provide an effective movement while avoiding obstacles. The success rate using a gyroscope sensor to avoid obstacles on the position of defender of 96% and the average time needed to reach the goal position at 5:33 seconds so much faster.]]>
