Soccer robot system is a perfect platform in research and application of artificial intelligence. It is a feedback control system that closed loop by computer vision subsystem. In the vision subsystem

the design of color tag is an important factor which influences the identifying precision

real time performance and anti noise performance of the robot soccer system. Through comparing and analyzing three kinds of representative color tag design

a more reasonable design can be getting. It has many excellences such as steady centroid

non interference from opposite

simply identifying algorithm and less conglutination. Base on the character of the color tag

a fast and exact compensate approximate algorithm is given out. Through real test

the error is less then 1 degree even when the robot speed is more then 2m/s. This algorithm is a very important base for advance research and development on robot soccer.