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.
Implementation of Intercept Ball Algorithm for Wheeled Soccer Robot Barelang63
Advances in Engineering res
International Conference on Applied Engineering ; 2024 ; Batam October 01, 2024 - October 02, 2024
Proceedings of the 7th International Conference on Applied Engineering (ICAE 2024) ; Chapter : 15 ; 190-205
2024-12-25
16 pages
Article/Chapter (Book)
Electronic Resource
English
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