The Robocup MSL(Middle Size League) is a robot soccer league. In the Robocup MSL a team consists
of 5 robots playing soccer autonomously. A very important aspect during a soccer match is intercepting the ball. Intercepting the ball occurs in many different situations. For example when the opponent is in ball possession or when the ball moves free over the field. The traineeship assignment is to design and implement a more successful strategy that is situation dependent, easy to extend and easy to change. The existing software of a soccer robot is created in Matlab Simulink with C code. An important subject during the traineeship is to do research on how and with which program to implement the intercept strategy. The first step in the design of the intercept strategy, is analyzing the many different situations that can occur during a MSL soccer march. With the situations defined the intercept strategy is designed in flowchart form. There are many different programs to implement the intercept strategy in flowchart form, in code. After comparing the pros and cons of these programs, the intercept strategy in flowchart form is implemented in ROS(Robot Operating System).