calculation of ball predicition ... ?

[Dagash]

hi ,
i am working in soccer robot model which contain ( field + players + camera + computer + .... etc ).
i am asking about how can i calculate the direction and speed for motors of players ? is it suitable put the algorathim in the computer and let it make all processing then send the command to microcontrollers at the players ..?

look at above picture.


i tried ro determine the calculation of possition and prediction of ball , i need some examples or articles about this point .