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 utilized in robot path planning. This paper describes the problems encoutered, software design considerations, vision algorithm and controls of individual robots. The solutions to the problems implemented are simple and di- rect. It is observed that many of the ideas and solutions can be evolved based on simple theories and concepts. This paper focuses on software structure of multi-agent controls, vision algorithm and simple path planning Method.