摘要： 分析了机器人足球比赛系统中决策子系统的一般结构，建立了产生式推理模型和决策的表达模型，构造了机器人足球比赛系统的决策程序的结构；定义了决策存储的结构体变量类型，设计了菜单，并以此形式实现了决策编程的可视化。

关键词: 机器人足球, 可视化编程, 决策前件, 决策后件

Abstract: This paper analyses the general structure of robot soccer decision subsystem, and makes the production reasoning model and the expressional model of decision-making. Thus it constructs decision-making program’s structure for this robot soccer system. A new structural variable type for decision storage is also defined. Eight menus are created, through which decision programming is visualized.

Key words: Robot soccer, Visualized programming, Decision former part, Decision rear part