Algoritma Tracking dan Estimasi Jarak Bola Pada Robot Soccer Humanoid

Patria Artha Technological Journal

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Field Value
 
Title Algoritma Tracking dan Estimasi Jarak Bola Pada Robot Soccer Humanoid
 
Creator Amri, Syaiful; Jurusan Teknik Elektro Politeknik Negeri Bengkalis
 
Subject Robot Humanoid, scanning, tracking, kontrol proportional
 
Description Humanoid soccer robot is a robot that is designed to play ball as humans play soccer, one of the algorithms owned by humanoid soccer robot to be able to see the ball is a scanning-tracking algorithm. Actuators used for scanning-tracking are two dynamixel AX12 servo motors. The task of the actuator is to make horizontal and vertical directions with the control method used in the tracking process, namely proportional control. After the ball is obtained from the scanning results, the tracking process is carried out which is then calculated the distance between the robot's foot and the ball. by knowing the distance of the ball, the robot can perform actions such as kicking, dribbling and stepping. The method used to get the distance of the ball with a robot is the trigonometry equation method based on the dynamixel servo motor angle. The results obtained after testing with ball spacing varies from 5cm to 500 cm, the process of scanning and tracking by finding the midpoint values of coordinates (position) of the ball object can be done at 160x120 pixel image frame resolution with the maximum distance that can be identified is 350 cm . while the ball spacing based on the actuator angle Y has an average estimated error of 15.71%.
 
Publisher Department of Electrical Engineering, University of Patria Artha
 
Contributor Politeknik Negeri Bengkalis
 
Date 2020-04-25
 
Type info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
Peer-reviewed Article
 
Format application/pdf
 
Identifier http://ejournal.patria-artha.ac.id/index.php/patj/article/view/331
10.33857/patj.v4i1.331
 
Source Patria Artha Technological Journal; Vol 4, No 1 (2020): Patria Artha Technological Journal; 47-53
2549-614X
2549-6171
10.33857/patj.v4i1
 
Language eng
 
Relation http://ejournal.patria-artha.ac.id/index.php/patj/article/view/331/pdf_52
 

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