In　this　paper,　an　integrated　maneuver　using　hierarchical　hybrid　structure　to　both　decision　making　system　and　control　system　is　proposed.　This　maneuver　combined　with　leader-follower　formation　approach　can　accomplish　the　attacking　task　availably　for　robot　soccer.　Two　robots　on　which　omni-directional　vision　cameras　are　mounted　can　be　organized　to　form　a　sub-team　for　the　offensive　target.　The　experimental　results　demonstrate　that　our　strategy　can　maximize　the　effectiveness　in　robot　soccer　match.