On Control Structure of Robotsoccer System

Due to the strategy problem of multi soccer robots real time counterwork,a kind of control structure based on coarse granularity behaviors and vertical decomposition is presented.Several important principles in designing the control structures for robot strategy systems are brought out after the discussion of control structures of intelligent robots and Robotsoccer control structures are analyzed via space mapping method.Coarse granularity behavior is defined to get the balance among intelligence,real time quality and precision of the strategy system.The coarse granularity behavior based control structure is designed and realized in a strategy system.