Hierarchical robot control structure and Newton's divided difference approach to robot path planning

摘要

A hierarchical robot control is proposed for robot soccer system. The Newton' s divided difference is rnutilized in robot path planning. This paper describes the problems encoutered, software design considerations,rnvision algorithm and controls of individual robots. The solutions.to the problems implemented are simple and dirnrect. It is observed that many of the ideas and solutions can be evolved based on simple theories and concepts.rnThis paper focuses on software structure of multi-agent controls, vision algorithm and simple path planning rnmethod.