Research Article
Localization System on Wheel Robot Soccer
@INPROCEEDINGS{10.4108/eai.5-10-2022.2327751, author={Yogy Pratama and Hendawan Soebhakti and Senanjung Prayoga and B. Budiana}, title={Localization System on Wheel Robot Soccer}, proceedings={Proceedings of the 5th International Conference on Applied Engineering, ICAE 2022, 5 October 2022, Batam, Indonesia}, publisher={EAI}, proceedings_a={ICAE}, year={2023}, month={6}, keywords={particle filter localization forward kinematic and midle size league}, doi={10.4108/eai.5-10-2022.2327751} }- Yogy Pratama
Hendawan Soebhakti
Senanjung Prayoga
B. Budiana
Year: 2023
Localization System on Wheel Robot Soccer
ICAE
EAI
DOI: 10.4108/eai.5-10-2022.2327751
Abstract
Wheeled robot soccer is a robot designed to play soccer. In Fact, the robot must be able to play like humans in wheeled robot soccer competition. The positioning of robot is one of the most important things in the manufacture of automatic robots. Robots had to know their position and the opponent robot position . One way to find out how far the robot moves is by using a rotary encoder equipped with a gyroscope. However, this method is easily affected by the environment like slips condition on the rotary encoder wheel, by resulting integral error value the error value was bigger than robot movement. Based on the result of experiment, experiments using the combination of odometry and vision methods are much better than using only odometry because it is not affected by slip. Which the average of x coordinate at 13.64 cm and average of y coordinate at 12.44 cm and the odometry methode the number of errors will continue to grow as more robots move which the average of x coordinate at 13.26 cm and average of y coordinate at 20.97 cm.
