This paper deals with the trajectory planning of multi agent robots using complex potential theory for robot soccer. The complex potential theory is introduced, then the circle theorem is used to avoid obstacles, and the vortex pair is used to make precise kicking direction of robot. Various situations of robot soccer are simulated and the effect of vortex strength and the speed of robots are discussed and the better way to avoid obstacles and to kick the precise direction is found. The feasibilities of complex potential theory to apply for the multi agent robots are successful.