Radial Search Lines Method for Estimating Soccer Robot Position Using an Omnidirectional Camera

2020 ◽  
Author(s):  
Rakasiwi Bangun Hamarsudi ◽  
Iwan Kurnianto Wibowo ◽  
Mochamad Mobed Bachtiar
Keyword(s):  
Soccer Robot ◽  
Omnidirectional Camera ◽  
Robot Position

scholarly journals Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

Jurnal INFORM ◽  
2020 ◽  
Vol 5 (2) ◽  
pp. 86-91
Author(s):  
Mochamad Mobed Bachtiar ◽  
Iwan Kurnianto Wibowo ◽  
Rakasiwi Bangun Hamarsudi
Keyword(s):  
Goal Area ◽  
Front Side ◽  
Soccer Robot ◽  
Omnidirectional Camera ◽  
Goal Detection ◽  
The Right ◽  
Robot Position ◽  
Soccer Robots

The ERSOW robot is a soccer robot developed by Politeknik Elektronika Negeri Surabaya, Indonesia. One important ability of a soccer robot is the ability to find the goal in the field. Goal Post is often used as a sign by soccer robots in a match. The mark is a reference robot in the field to be used in determining the strategy. By knowing the location of the goal in a field, the soccer robot can make the decision to maneuver in the match to get the right goal kick. There are various methods of detecting goal. One of them is to detect goal post using vision. In this study the radial search lines method is used to detect the goalposts as markers. Image input is generated from an omnidirectional camera. The goal area that is detected is the front side of the goal area. With experiments from 10 robot position points in the field, only 1 position point cannot detect the goal. The robot cannot detect the goal because what is seen from the camera is the side of the goal, so the front side of the goal area is not visible.Keywords— omnidirectional camera, vision, radial search lines, goal detection, ersow soccer robot

scholarly journals Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

Jurnal INFORM ◽  
2020 ◽  
Vol 5 (2) ◽  
pp. 86
Author(s):  
Mochamad Mobed Bachtiar ◽  
Iwan Kurnianto Wibowo ◽  
Rakasiwi Bangun Hamarsudi
Keyword(s):  
Goal Area ◽  
Front Side ◽  
Soccer Robot ◽  
Omnidirectional Camera ◽  
The Right ◽  
Robot Position ◽  
Soccer Robots

The ERSOW robot is a soccer robot developed by Politeknik Elektronika Negeri Surabaya, Indonesia. One important ability of a soccer robot is the ability to find the goal in the field. Goal Post is often used as a sign by soccer robots in a match. The mark is a reference robot in the field to be used in determining the strategy. By knowing the location of the goal in a field, the soccer robot can decide to maneuver in the match to get the right goal kick. There are various methods of detecting goals. One of them is to detect goal posts using vision. In this study, the radial search lines method is used to detect the goalposts as markers. Image input is generated from an omnidirectional camera. The goal area is detected on the front side of the goal area. With experiments from 10 robot position points in the field, only 1 position point cannot detect the goal. The robot cannot detect the goal because what is seen from the camera is the side of the goal, so the front side of the goal area is not visible.

Ball detection for KRSBI soccer robot using PeleeNet on omnidirectional camera

2020 ◽  
Author(s):  
Winarno ◽  
Ali Suryaperdana Agoes ◽  
Eva Inaiyah Agustin ◽  
Deny Arifianto
Keyword(s):  
Soccer Robot ◽  
Omnidirectional Camera ◽  
Ball Detection

scholarly journals PID Controller-based Object Tracking and Speed Control System for Wheeled Soccer Robot

2017 ◽  
Author(s):  
Indra Riyanto
Keyword(s):  
Control System ◽  
Pid Controller ◽  
Detection System ◽  
Speed Control ◽  
Dynamic State ◽  
Soccer Robot ◽  
Speed Control System ◽  
The Right ◽  
Static Conditions ◽  
Robot Position

This paper discussed about the detection system of ball objects and speed control system of wheeled robot football using PID controller. The object detection system uses behavior-based control methods based on the orientation of the robot position against the object position. The position of the robot is controlled to keep it perpendicular to the ball. When the position of the robot is perpendicular to the ball, the robot will move with a certain speed that is controlled by the PID controller based on the distance between the robot and the ball. Test results in static conditions (static balls) show the robot can detect the object of the ball, either when the position of the object perpendicular, to the right, or left of the robot. In testing the dynamic state (moving ball) with random directions, the robot can also move dynamically as the ball position changes.

Mobile Robot Playback Navigation Based on Robot Pose Calculation Using Memorized Omnidirectional Images

2002 ◽  
Vol 14 (4) ◽  
pp. 366-374 ◽  
Author(s):  
Lixin Tang ◽  
◽  
Shin'ichi Yuta
Keyword(s):  
Autonomous Navigation ◽  
Target Position ◽  
Manual Control ◽  
Time Interval ◽  
Indoor Environments ◽  
Evaluation Function ◽  
Omnidirectional Camera ◽  
Environmental Image ◽  
Omnidirectional Images ◽  
Robot Position

We propose a method of autonomous navigation for mobile robots in indoor environments by a teaching and playback scheme. During teaching, an operator guides a robot to move by manual control. While moving, the robot memorizes its motion measured by odometry and an environmental image taken by an omnidirectional camera at each time interval, and regards places where images were taken as target positions. When navigating autonomously, the robot plays back memorized motion to track each target position and corrects its position by calculating its relative pose using current and memorized images, to follow the taught route. In this method, vertical edges existing in the environment are used as landmarks to calculate robot position, and an evaluation function defined by us is used to find corresponding vertical edges between two images. The robot thus can navigate robustly in real building environments. The system can avoid the problem of the operator covering a part of the environment in images during the teaching stage.

Fuzzy Self-Adaptive Soccer Robot Behavior Decision System Design through ROS

2018 ◽  
Vol 62 (3) ◽  
pp. 304011-3040111 ◽  
Author(s):  
Shih-An Li ◽  
Hsuan-Ming Feng ◽  
Sheng-Po Huang ◽  
Chen-You Chu
Keyword(s):  
System Design ◽  
Soccer Robot ◽  
Decision System ◽  
Robot Behavior ◽  
Self Adaptive

scholarly journals Research of Calibration Method for Industrial Robot Based on Error Model of Position

2021 ◽  
Vol 11 (3) ◽  
pp. 1287
Author(s):  
Tianyan Chen ◽  
Jinsong Lin ◽  
Deyu Wu ◽  
Haibin Wu
Keyword(s):  
Coordinate System ◽  
Industrial Robot ◽  
Calibration Method ◽  
Error Model ◽  
Position Error ◽  
Industrial Robots ◽  
Positioning Error ◽  
Robot Position ◽  
General Measurement ◽  
Parameter Error

Based on the current situation of high precision and comparatively low APA (absolute positioning accuracy) in industrial robots, a calibration method to enhance the APA of industrial robots is proposed. In view of the "hidden" characteristics of the RBCS (robot base coordinate system) and the FCS (flange coordinate system) in the measurement process, a comparatively general measurement and calibration method of the RBCS and the FCS is proposed, and the source of the robot terminal position error is classified into three aspects: positioning error of industrial RBCS, kinematics parameter error of manipulator, and positioning error of industrial robot end FCS. The robot position error model is established, and the relation equation of the robot end position error and the industrial robot model parameter error is deduced. By solving the equation, the parameter error identification and the supplementary results are obtained, and the method of compensating the error by using the robot joint angle is realized. The Leica laser tracker is used to verify the calibration method on ABB IRB120 industrial robot. The experimental results show that the calibration method can effectively enhance the APA of the robot.

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