Design of action level in a hybrid control structure for vision based soccer robot system

A design of the action level in a hybrid control structure for a vision-based soccer robot system is proposed. The hybrid control structure is composed of four levels namely, the role, action, behavior and execution levels. The control structure, which is a combination of hierarchical and behavioral structures, can meet the behavior and the design specifications of a soccer robot system. In order to increase the system reliability and the degree of achievement in the control structure, the action level should be designed so that the actions of each agent, which is necessary in robot soccer, are assigned properly