Location and Position Determination Algorithm For Humanoid Soccer Robot
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.
Author: Oei Kurniawan Utomo,
Daniel Santoso, Saptadi Nugroho
Journal Code: jptkomputergg160208
