A brief discussion on the build of program architecture in RoboCup 3D simulation environment

Accompanied with a series changes in RoboCup 3D simulation condition, the competition environment has become much more sophisticated than before, which contributes to a complicated program structure. In this paper, an architecture which formed by four layers is introduced in the build of RoboCup 3D Client program considering the configuration of RoboCup 3D system and the architecture of agent. The features and relationship among those layers are expounded and demonstrated in graph.