In the robot soccer game, the minimal trajectory generating method and the accurate motion trajectory control are very important. In this paper we suggest a trajectory generating method which is very simple and effective. This method uses only arcs and lines. We also propose a new motion tracking control. In the most of the motion tracking control the main control parameter is a steering angle. But we use a steering radius instead of the steering angle as a control parameter. In this methods we don't have to consider a dynamic equation of the robot. As a result we can control robots simply and accurately.These proposed methods are applied to the robot soccer system, named 'Crimson', which has participated in Robot WorldCup'98 in Paris. Simulation results show that these methods are simple and effective compared with the conventional methods.