Implementation of Intercept Ball Algorithm for Wheeled Soccer Robot Barelang63

Fahri Rahmat; Anugerah Wibisana; Mochamad Rizal Fauzi; Masdika Aliman; Nur Firmansyah

doi:10.2991/978-94-6463-620-8_15

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Implementation of Intercept Ball Algorithm for Wheeled Soccer Robot Barelang63

Authors

Fahri Rahmat¹^{, *}, Anugerah Wibisana¹, Mochamad Rizal Fauzi¹, Masdika Aliman¹, Nur Firmansyah¹

¹Politeknik Negeri Batam, Kepulauan Riau, 29461, Indonesia

^*Corresponding author. Email: fahri.rahmat46@gmail.com

Corresponding Author

Fahri Rahmat

Available Online 25 December 2024.

DOI: 10.2991/978-94-6463-620-8_15 How to use a DOI?
Keywords: Soccer Robot; Barelang63; Ball Interception
Abstract: The Barelang63 team competes in the Indonesian Robot Contest, specifically in the Wheeled Indonesian Soccer Robot Contest (KRSBI-Beroda), where ball interception is critical for both offensive and defensive strategies. This research aims to improve the robot’s ball interception capabilities by developing an algorithm that leverages a Kalman filter for precise estimation of the ball’s position and velocity. The algorithm integrates data from both omnidirectional and stereo cameras, using color segmentation for ball detection. Experimental results demonstrate that the Kalman filter significantly enhances the accuracy of ball tracking, resulting in a high success rate in interceptions at lower ball speeds (0.8 - 1 m/s). However, at higher speeds (1.5 - 2 m/s), the robot’s interception success decreases due to its speed limitations. Future work will focus on increasing the robot’s maximum speed to enhance the effectiveness of the interception algorithm in high-speed scenarios.
Copyright: © 2024 The Author(s)
Open Access: Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title: Proceedings of the 7th International Conference on Applied Engineering (ICAE 2024)
Series: Advances in Engineering Research
Publication Date: 25 December 2024
ISBN: 978-94-6463-620-8
ISSN: 2352-5401
DOI: 10.2991/978-94-6463-620-8_15 How to use a DOI?
Open Access: Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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ris enw bib

TY  - CONF
AU  - Fahri Rahmat
AU  - Anugerah Wibisana
AU  - Mochamad Rizal Fauzi
AU  - Masdika Aliman
AU  - Nur Firmansyah
PY  - 2024
DA  - 2024/12/25
TI  - Implementation of Intercept Ball Algorithm for Wheeled Soccer Robot Barelang63
BT  - Proceedings of the  7th International Conference on Applied Engineering (ICAE 2024)
PB  - Atlantis Press
SP  - 190
EP  - 205
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-620-8_15
DO  - 10.2991/978-94-6463-620-8_15
ID  - Rahmat2024
ER  -

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