With the objective of studying and accumulating experience in robotics, a robot soccer team was created following the specifications of the Small Size League division of the RoboCup. In order to being able to effectively participate in official competitions, it's necessary to develop an artificial intelligence capable of turning the robots into autonomous agents. The focus of the development of the AI presented in this work was in the basic skills required for robots to play matches: movimentation, kick and pass. Having completed this initial step, the project can now move on to more complex strategies in order to completely implement the AI and participate in official matches.