Muhtadin, Mauridhi Hery Purnomo : DETEKSI FITUR DAN PENENTUAN LOKASI ROBOT PEMAIN SEPAK BOLA BERBASIS PENANDA YANG TIDAK UNIK
Prof.Dr.Ir. Mauridhi Hery Purnomo M.Eng.
The 2nd Indonesian Symposium on Robot Soccer Competition
feature localization triangulation
This paper describe about feature extraction in
RoboCup 2013 environment. The features are the
ball, the goals and field line. By knowing the
features, robot can estimate his position (x, y, #952) in
the field. Coordinates (x, y) obtained from the
triangulation method, and #952 obtained from the
orientation sensors which planted in the robot. If it
was equipped with a self-localization module, he
could participate in global decision making for his
team\s best interest, such as game strategy, team
coordination and role assignment among the
players. This research discussed about features
extraction for the ball, goal and field boundary.
Goal identification is done by applying hough
transform to detect lines that represent goalposts
and crossbar. Polynomial curve fitting method used
to get the distance between robot and the goal. To
improve our robot performance, an orientation
sensor was added. This sensor can be used to
distinguish between oponent#8223s side and our side.
Then using non unique landmark and triangulation
method, we do localization for soccer robot. As
result, based on experiment robot can do
localization with 0.1154m error.