Sistem Kontrol Robot Sepak Bola berbasis Deteksi Multi Warna dengan PID Controller

Nugraha, Ramdhan; Ibrahim, Nur

doi:10.24912/tesla.v19i2.2700

Cited by 2 publications

(1 citation statement)

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“…Menerapkan metode learning dengan tambahan algoritma deteksi lapangan untuk mengenali bola dengan pola yang beragam dan mampu mengeliminasi noise dari objek lain yang memiliki warna serupa dengan bola [14]. Kemampuan sistem dalam mengenali 3 buah objek warna yaitu merah dan biru pada robot serta oranye pada bola [15].…”

Section: Pendahuluanunclassified

Sistem Deteksi dan Pelacakan Bola dengan Metode Hough circle Transform Menggunakan Kamera Omnidirectional pada Robot Sepak Bola Beroda

Putra

Puriyanto

2022

Buletin Ilmiah Sarjana Teknik Elektro

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This research develops a wheeled soccer robot or KRSBI-B in detecting and tracking the ball using an omnidirectional camera. The disadvantage of the previous robot is that the robot is less accurate in detecting the ball because the robot's visibility to the ball and the intensity of light on the field are different. With the Hough circle transform method and color filtering, this study conducted several tests such as detecting the ball if it was covered by an opposing robot, then getting the coordinates of the robot's distance from the ball, and testing different light intensities in the room. The results achieved are that the system can detect and track the ball with the results of object detection between the robot and the ball from the front, the result is the difference in coordinates (x, y) on pixels and coordinates (x, y) references with an overall average error value of 0, 14%. Detection of objects between the robot and the ball from all directions with 24 times of testing the results obtained accuracy and precision of 100% and a miss rate of 0%, then on testing changes in lighting intensity with 4 different lighting tests and different distances, accuracy and precision results are obtained. by 100% with a miss rate of 0%. Detection of the ball if it is covered by the robot, the system is able to detect the ball up to 75% of the range of objects on the side of the ball and shows an average Peak Signal to Noise Ratio (PSNR) image quality of 39.6% with good image quality results indicated by a high PSNR value tall. Penelitian ini mengembangkan robot sepak bola beroda atau KRSBI-B dalam mendeteksi dan melacak bola menggunakan kamera omnidirectional. Kekurangan pada robot sebelumnya yaitu kurang akuratnya robot dalam mendeteksi bola karena jarak pandang robot terhadap bola dan intensitas cahaya di lapangan yang berbeda-beda. Dengan metode Hough circle transform dan colour filtering penelitian ini melakukan beberapa pengujian seperti mendeteksi bola jika tertutup oleh robot lawan, kemudian mendapatkan koordinat jarak robot terhadap bola, dan pengujian intensitas cahaya yang berbeda-beda di dalam ruangan. Hasil yang dicapai yaitu sistem dapat mendeteksi dan melacak bola dengan hasil dari deteksi objek antara robot dan bola dari arah depan didapatkan hasil selisih koordinat (x, y) pada pixel dan koordinat (x, y) referensi dengan keseluruhan nilai error rata-rata 0,14%. Deteksi objek antara robot dan bola dari segala arah dengan 24 kali pengujian didapatkan hasil akurasi dan presisi sebesar 100% dan miss rate 0%, kemudian pada pengujian perubahan intensitas pencahayaan dengan 4 kali pengujian pencahayaan yang berbeda dan jarak yang berbeda di dapatkan hasil akurasi dan presisi sebesar 100% dengan miss rate 0%. Pendeteksian bola jika tertutup oleh robot, sistem mampu mendeteksi bola hingga rentang objek sisi bola terlihat 75% dan menunjukkan hasil kualitas citra Peak Signal to Noise Ratio (PSNR) rata-rata 39,6% dengan hasil kualitas citra yang baik ditunjukkan dengan nilai PSNR yang tinggi.

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Section: Pendahuluanunclassified

Sistem Deteksi dan Pelacakan Bola dengan Metode Hough circle Transform Menggunakan Kamera Omnidirectional pada Robot Sepak Bola Beroda

Putra

Puriyanto

2022

Buletin Ilmiah Sarjana Teknik Elektro

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Analysis of the use of CMUcam5 Pixy camera in wheeled soccer robots

Nasution

Simon

Fahmi

et al. 2020

IOP Conf. Ser.: Mater. Sci. Eng.

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Wheeled soccer robot is a robot that can play football like humans but maneuvers using wheels. Wheeled soccer robot has an event that is held routinely every year in Indonesia, namely in the Indonesian Robot Contest. To play well, the robot is certainly equipped with sensors and actuators that are qualified. One of the sensors used is the camera. The camera on the soccer robot functions to capture images around the robot that will later be processed on a computer. In this study, we analyzed the use of CMUcam5 Pixy for wheeled soccer robots. testing is carried out as much as 2 stages, namely testing without noise and testing with noise. From the results of tests that have been carried out, the CMUcam5 Pixy camera has a certain limit for detecting the ball. In testing with CMUcam5 Pixy camera noise can only detect up to 490 cm. Whereas in testing with CMUcam5 Pixy camera noise can only detect up to 420 cm.

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Sistem Kontrol Robot Sepak Bola berbasis Deteksi Multi Warna dengan PID Controller

Cited by 2 publications

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Sistem Deteksi dan Pelacakan Bola dengan Metode Hough circle Transform Menggunakan Kamera Omnidirectional pada Robot Sepak Bola Beroda

Sistem Deteksi dan Pelacakan Bola dengan Metode Hough circle Transform Menggunakan Kamera Omnidirectional pada Robot Sepak Bola Beroda

Analysis of the use of CMUcam5 Pixy camera in wheeled soccer robots

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