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Location and Position Determination Algorithm For Humanoid Soccer Robot

By Oei Kurniawan Utomo, Daniel Santoso and Saptadi Nugroho

Abstract

The algorithm of location and position determination was designed for humanoid soccer robot. The robots have to be able to control the ball effectively on the field of Indonesian Robot Soccer Competition which has a size of 900 cm x 600 cm. The algorithm of location and position determination uses parameters, such as the goalpost’s thickness, the compass value, and the robot’s head servo value. The goalpost’s thickness is detected using The Centre of Gravity method. The width of the goalpost detected is analyzed using the principles of camera geometry to determine the distance between the robot and the goalpost. The tangent value of head servo’s tilt angle is used to determine the distance between the robot and the ball. The distance between robot-goalpost and the distance between robot-ball are processed with the difference of head servo’s pan angle and compass value using trigonometric formulas to determine the coordinates of the robot and the ball in the Cartesian coordinates

Topics: perturb and observe algorithm, solar energy, solar photovoltaic, checking algorithm, robot, soccer, location, positioning, Electrical engineering. Electronics. Nuclear engineering, TK1-9971, Electronic computers. Computer science, QA75.5-76.95
Publisher: Universitas Ahmad Dahlan
Year: 2016
DOI identifier: 10.12928/telkomnika.v14i1.2710
OAI identifier: oai:doaj.org/article:6f1993632fba4c5b9f9dc0c33d2e33c1
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